Title :
Analysis of collective behavior and grasp motion in human hand
Author :
Park, Jongwoo ; Cheong, Joono
Author_Institution :
Dept. of Control & Instrum. Eng., Korea Univ., Jochiwon, South Korea
Abstract :
In this paper, we propose a method for analyzing and synthesizing human´s grasping motion and the corresponding collective behaviors in the human hand. We apply PCA technique for a dimension reduction and then Gaussian mixture model(GMM) in order to identify the grasp type and the associated object parameters for a given joint data set. We verify the validity of the analysis through simulation with human grasp data captured by a data glove.
Keywords :
Gaussian processes; dexterous manipulators; grippers; principal component analysis; Gaussian mixture model; PCA technique; collective behavior; data glove; dimension reduction; grasp motion; human hand; Data gloves; Grasping; Humans; Joints; Principal component analysis; Robots; Taxonomy; Grasp motion; expectation maximization (EM); gaussian mixture model (GMM); principal component analysis (PCA);
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
