Title :
Grasp Database That Covers Variation of Contact Region Usage
Author :
Miyata, Naoyuki ; Hironom, Takayoshi ; Maeda, Yuji
Author_Institution :
Digital Human Res. Center, AIST, Tokyo, Japan
Abstract :
This paper proposes a novel approach to build a human grasp database that considers contact regions for grasping posture synthesis. To cover all types of hand surface regions contacting an object when grasping, the grasp taxonomy from other research was extended. For each pattern of region usage, we collected several posture variations that differ in the distance between regions. In total, 801 postures were collected for 107 patterns of region usage. A posture to grasp a new object was generated by interpolation with optimization-based adjustment using the proposed database, given a goal contact state of the hand with the object.
Keywords :
computer graphics; interpolation; optimisation; visual databases; contact region usage variation; grasp taxonomy; grasping posture synthesis; hand surface regions; human grasp database; interpolation; optimization-based adjustment; posture variations; Computational modeling; Databases; Grasping; Interpolation; Joints; Solid modeling; Thumb; Contact Region; Database; Grasp Synthesis; Motion Capture;
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on
Conference_Location :
Manchester
DOI :
10.1109/SMC.2013.450
