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• W2967896172 abstract "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 pose and joint angles without sensors on the human hand, from attachment points on the first three fingers and the palm. We test the accuracy of our approach using motion capture as a ground truth. This reconstruction can be used to determine contact geometry and force-feedback from virtual or remote objects in virtual reality or teleoperation." @default.
• W2967896172 created "2019-08-22" @default.
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• W2967896172 date "2019-05-01" @default.
• W2967896172 modified "2023-09-26" @default.
• W2967896172 title "Reconstructing Human Hand Pose and Configuration using a Fixed-Base Exoskeleton" @default.
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• W2967896172 doi "https://doi.org/10.1109/icra.2019.8794059" @default.
• W2967896172 hasPublicationYear "2019" @default.
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