Object-dependent estimation of grasp posture and contact region of hand based on cluster analysis

Ariki, Yuka; Endo, Yui; Miyata, Natsuki; Tada, Minoru

doi:10.1109/iros.2012.6385725

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2013

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“…Postures to grasp various objects are collected beforehand and modified directly [7]- [13] or afterwards converted into low-dimensional data [14] [15]. The data-driven approach is promising in terms of generating a plausible human posture.…”

Section: Introductionmentioning

confidence: 99%

Grasp Database That Covers Variation of Contact Region Usage

Miyata

Hironom

Maeda

2013

2013 IEEE International Conference on Systems, Man, and Cybernetics

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This paper proposes a novel approach to build a human grasp database that considers contact regions for grasping posture synthesis. To cover all types of hand surface regions contacting an object when grasping, the grasp taxonomy from other research was extended. For each pattern of region usage, we collected several posture variations that differ in the distance between regions. In total, 801 postures were collected for 107 patterns of region usage. A posture to grasp a new object was generated by interpolation with optimization-based adjustment using the proposed database, given a goal contact state of the hand with the object.

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Section: Introductionmentioning

confidence: 99%