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Reconstructing Human Hand Pose and Configuration using a Fixed-Base Exoskeleton
2019
2019 International Conference on Robotics and Automation (ICRA)
Accurate real-time estimation of the pose and configuration of the human hand attached to a dexterous haptic input device is crucial to improve the interaction possibilities for teleoperation and in virtual and augmented reality. In this paper, we present an approach to reconstruct the pose of the human hand and the joint angles of the fingers when wearing a novel fixed-base (grounded) hand exoskeleton. Using a kinematic model of the human hand built from MRI data, we can reconstruct the hand
doi:10.1109/icra.2019.8794059
dblp:conf/icra/PereiraSBSMPCHL19
fatcat:ma37do5lebc7jjrq5j2vl2a5vi