Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures

Tokuo Tsuji, Hidetoshi Seki, Daisuke Inada, Ken Ichi Morooka, Kensuke Harada, Kenji Tahara, Masatoshi Hikizu, Hiroaki Seki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We propose a new method for analyzing human grasping motion using an infrared camera. This technique simplifies the teaching of motion to robots based on the observation of human motion. In this method, the contact area on the object is extracted by observing the thermal signature captured by an infrared camera. To understand the intention of human behavior, we propose a grasping identification method using 3D thermal signatures. In addition, we perform a principal component analysis on the contact area and the center of gravity for the contact area of each finger. This method expresses the grasp motion space with a small number of parameters and can be used to enable easy correspondence between human and robot hands. We confirm experimentally that the proposed method is effective for teaching motion to robot.

Original languageEnglish
Title of host publication2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1386-1392
Number of pages7
ISBN (Electronic)9784907764609
DOIs
Publication statusPublished - Oct 15 2018
Event57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 - Nara, Japan
Duration: Sep 11 2018Sep 14 2018

Publication series

Name2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018

Conference

Conference57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
CountryJapan
CityNara
Period9/11/189/14/18

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Control and Optimization
  • Instrumentation

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