| Presentation | 2002/1/17 Recognition of human fingers' shape for control of humanoid robotic hand Koken SOEISHI, Satoru ODO, Kiyoshi H0SHIN0, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The goal of this study is to construct a huma-robot communication system. In the present study, therefore, we propose a technique to recognize motions of human hand and fingers from a single CCD image sequence, so as to extract motion parameters and control a humanoid robotic arm with hands. It is possible from the image to recognize the shape and posture of human hand and fingers if it is of a rigid body with simple shape. But a joint object with combination of rigid bodies may generally need both geometric model constructed beforehand and matching the images with the model. In this paper, we decrease computational complexity by adopting the range limitation of finger angles and the minimum accuracy for the control. So we estimate the fingers' shape using self-organizing feature map. we decided the control parameter of humanoid robotic hand from the estimated result of the fingers' shape. So, we carried out control experiments of humanoid robotic hand with these control parameters. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | humanoid robotic hand / recognition of human fingers' shape / sign language / self-organizing feature map |
| Paper # | 2001-HIP-82 |
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| Conference Information | |
| Committee | HIP |
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| Conference Date | 2002/1/17(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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| Paper Information | |
| Registration To | Human Information Processing (HIP) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Recognition of human fingers' shape for control of humanoid robotic hand |
| Sub Title (in English) | |
| Keyword(1) | humanoid robotic hand |
| Keyword(2) | recognition of human fingers' shape |
| Keyword(3) | sign language |
| Keyword(4) | self-organizing feature map |
| 1st Author's Name | Koken SOEISHI |
| 1st Author's Affiliation | Department of Information Engineering, Faculty of Engineering, University of the Ryukyus() |
| 2nd Author's Name | Satoru ODO |
| 2nd Author's Affiliation | Department of Information Engineering, Faculty of Engineering, University of the Ryukyus |
| 3rd Author's Name | Kiyoshi H0SHIN0 |
| 3rd Author's Affiliation | Department of Information Engineering, Faculty of Engineering, University of the Ryukyus:PRESTO, Japan Science and Technology Corporation |
| Date | 2002/1/17 |
| Paper # | 2001-HIP-82 |
| Volume (vol) | vol.101 |
| Number (no) | 594 |
| Page | pp.pp.- |
| #Pages | 5 |
| Date of Issue | |