Animating a Synergy-Based Deformable Hand Avatar for Haptic Grasping

Mulatto, Sara; Formaglio, Alessandro; Malvezzi, Monica; Prattichizzo, Domenico

doi:10.1007/978-3-642-14075-4_29

Cited by 11 publications

(7 citation statements)

References 9 publications

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“…Results are compared to the ones reported in [7], showing a significant coherence in the synergies obtained, independently from the dimensionality of the kinematic description in use. In conclusion, this paper offers a useful tool that can be used to investigate more in depth and with higher accuracy the synergy concept; the final results, after the definition of a meaningful mapping strategy, might drive the definition of robotic hand postures able to realize effective grasps, or be used as a priori information for hand avatar animation [16] or for the improvement of the design and the performance of glove-based Hand Pose Reconstruction (HPR) systems [17], [18].…”

Section: Discussionmentioning

confidence: 99%

A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis

Gabiccini

Stillfried

Marino

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a methodology to accurately record human finger postures during grasping. The main contribution consists of a kinematic model of the human hand reconstructed via magnetic resonance imaging of one subject that (i) is fully parameterized and can be adapted to different subjects, and (ii) is amenable to in-vivo joint angle recordings via optical tracking of markers attached to the skin. The principal novelty here is the introduction of a soft-tissue artifact compensation mechanism that can be optimally calibrated in a systematic way. The high-quality data gathered are employed to study the properties of hand postural synergies in humans, for the sake of ongoing neuro-science investigations. These data are analyzed and some comparisons with similar studies are reported. After a meaningful mapping strategy has been devised, these data could be employed to define robotic hand postures suitable to attain effective grasps, or could be used as prior knowledge in lower-dimensional, real-time avatar hand animation

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Section: Discussionmentioning

confidence: 99%

A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis

Gabiccini

Stillfried

Marino

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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show abstract

“…A typical implementation approach for such systems is to combine multiple SPHs as a single MPH, where the interfinger communications are actually inter-SPH communications. This approach has been applied to multiple offthe-shelf haptic devices, such as the Sensable Phantom Premium [8], Force Dimension [9], and Novint Falcon [10], but these systems usually face the drawback of reduced workspace. Another approach is to augment an existing SPH with multifinger capabilities while keeping its original kinematics.…”

Section: Related Workmentioning

confidence: 99%

Toward a Future with Human Hands-Like Haptics: A Universal Framework for Interfacing Existing and Future Multipoint Haptic Devices

Wei

Zhou

Nahavandi

et al. 2016

IEEE Syst. Man Cybern. Mag.

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“…The analysis of controllable internal forces and object movements has been applied to a robotic hand with an anthropomorphic kinematic structure, actuated with synergies. The details of the kinematic model are described in [36]. The kinematic model of the anthropomorphic hand considered has globally 20 DoF, four degrees of freedom for each finger.…”

Section: Application To a Human Like Robotic Handmentioning

confidence: 99%

On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies

et al. 2013

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To adapt to many different objects and tasks, hands are very complex systems with many degrees of freedom (DoFs), sensors, and actuators. In robotics, such complexity comes at the cost of size and weight of the hardware of devices, but it strongly affects also the ease of their programming. A possible approach to simplification consists in coupling some of the DOFs, thus affording a reduction of the number of effective inputs, and eventually leading to more efficient, simpler, and reliable designs. Such coupling can be at the software level, to achieve faster, more intuitive programmability or at the hardware level, through either rigid or compliant physical couplings between joints. Physical coupling between actuators and simplification of control through the reduction of independent inputs is also an often-reported interpretation of human hand movement data, where studies have demonstrated that few "postural synergies" explain most of the variance in hand configurations used to grasp different objects. Together with beneficial simplifications, the reduction of the number of independent inputs to a few coupled motions or "synergies" has also an impact on the ability of the hand to dexterously control grasp forces and in-hand manipulation. This paper aims to develop tools that establish how many synergies should be involved in a grasp to guarantee stability and efficiency, depending on the task and on the hand embodiment. Through the analysis of a quasi-static model, grasp structural properties related to contact force and object motion controllability are defined. Different compliant sources are considered, for a generalization of the discussion. In particular, a compliant model for synergies assumed, referred to as "soft synergies," is discussed. The controllable internal forces and motions of the grasped object are related to the actuated inputs. This paper investigates to what extent a hand with many joints can exploit postural synergies to control force and motion of the grasped object

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Animating a Synergy-Based Deformable Hand Avatar for Haptic Grasping

Cited by 11 publications

References 9 publications

A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis

A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis

Toward a Future with Human Hands-Like Haptics: A Universal Framework for Interfacing Existing and Future Multipoint Haptic Devices

On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies

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