Multi-constrained inverse kinematics for the human hand

Ali Akbar Samadani, Dana Kulić, Rob Gorbet

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

2 Citations (Scopus)

Abstract

Measuring the spatial and temporal characteristics of hand movement is a challenging task due to the large number of degrees of freedom (DOF) in the hand. This paper presents a multi-constrained inverse kinematics (IK) approach for hand motion estimation from motion capture data. The IK approach satisfies a set of prioritized motion and postural constraints for each hand joint and link. The high-priority constraint is fully satisfied, while the fulfilment of the low-priority constraints is achieved as long as no conflict with the high-priority constraint exists. The proposed approach can aid marker-based motion capture technologies in accurately reconstructing discontinuities or erroneous marker trajectory segments resulting from occluded, missing, or flipped markers. The performance of the multi-constrained IK approach for the hand is tested for a full range of continuous hand motion.

Original languageEnglish
Title of host publication2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages6780-6784
Number of pages5
ISBN (Print)9781424441198
DOIs
Publication statusPublished - 14 Dec 2012
Externally publishedYes
EventInternational Conference of the IEEE Engineering in Medicine and Biology Society 2012 - Hilton San Diego Bayfront, San Diego, United States of America
Duration: 28 Aug 20121 Sep 2012
Conference number: 34th

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Conference

ConferenceInternational Conference of the IEEE Engineering in Medicine and Biology Society 2012
Abbreviated titleEMBC 2012
CountryUnited States of America
CitySan Diego
Period28/08/121/09/12

Cite this

Samadani, A. A., Kulić, D., & Gorbet, R. (2012). Multi-constrained inverse kinematics for the human hand. In 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012 (pp. 6780-6784). [6347551] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/EMBC.2012.6347551