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

研究成果: 著書/レポートタイプへの貢献会議での発言

抄録

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.

元の言語英語
ホスト出版物のタイトル2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ページ1386-1392
ページ数7
ISBN(電子版)9784907764609
DOI
出版物ステータス出版済み - 10 15 2018
イベント57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 - Nara, 日本
継続期間: 9 11 20189 14 2018

出版物シリーズ

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

会議

会議57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
日本
Nara
期間9/11/189/14/18

Fingerprint

Synergy
Signature
signatures
Contact
Robots
Motion
Teaching
Cameras
Grasping
Infrared Camera
Robot
Infrared radiation
robots
End effectors
education
Principal component analysis
cameras
human behavior
Gravitation
end effectors

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Control and Optimization
  • Instrumentation

これを引用

Tsuji, T., Seki, H., Inada, D., Morooka, K. I., Harada, K., Tahara, K., ... Seki, H. (2018). Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures. : 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 (pp. 1386-1392). [8492623] (2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2018.8492623

Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures. / Tsuji, Tokuo; Seki, Hidetoshi; Inada, Daisuke; Morooka, Ken Ichi; Harada, Kensuke; Tahara, Kenji; Hikizu, Masatoshi; Seki, Hiroaki.

2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1386-1392 8492623 (2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018).

研究成果: 著書/レポートタイプへの貢献会議での発言

Tsuji, T, Seki, H, Inada, D, Morooka, KI, Harada, K, Tahara, K, Hikizu, M & Seki, H 2018, Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures. : 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018., 8492623, 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1386-1392, 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018, Nara, 日本, 9/11/18. https://doi.org/10.23919/SICE.2018.8492623
Tsuji T, Seki H, Inada D, Morooka KI, Harada K, Tahara K その他. Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures. : 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1386-1392. 8492623. (2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018). https://doi.org/10.23919/SICE.2018.8492623
Tsuji, Tokuo ; Seki, Hidetoshi ; Inada, Daisuke ; Morooka, Ken Ichi ; Harada, Kensuke ; Tahara, Kenji ; Hikizu, Masatoshi ; Seki, Hiroaki. / Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures. 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1386-1392 (2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018).
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