Publication: Multi-sensor based segmentation of human manipulation tasks
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2010-10
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Tutors
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IEEE
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Abstract
In this paper we present an overview of a multisensor
setup designed to record and analyse human in-hand
manipulation - tasks consisting of several phases of finger
motions following the initial grasp. During the experiments all
of the hand, finger, and object positions are recorded, as are
the contact forces applied to the manipulated objects. The use
of instrumented sensing objects complements the data.
The goal is to understand and extract a basic set of finger
and hand movement patterns, which can then be combined
to perform a complete manipulation task, and which can
be transferred to control robotic hands. The segmentation of
whole manipulation traces into several phases corresponding to
individual basic patterns is the first step towards this goal. Initial analysis and segmentation of two typical manipulation tasks are presented, showing the advantages of the multi-modal analysis.
Description
Proceedings of: 2010 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (FMI), September 5-7, 2010, Salt Lake City, USA
Keywords
Grasping, In-hand manipulation, Tactile sensing
Bibliographic citation
2010 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) (pp. 223-229). IEEE, 2010