Exploring human hand capabilities into embedded multifingered object manipulation

IEEE Transactions on Industrial Informatics

Volumn 7, Issue 3, 2011, Pages 389-398

  Liu, Honghai ^a  

^a UNIVERSITY OF PORTSMOUTH   (United Kingdom)

Author keywords

Human hand modeling; motion capturing; motion recognition; multifingered robot manipulation and cognitive robotics

Indexed keywords

ANALYSIS AND SYNTHESIS; FUTURE DIRECTIONS; HAND MOTION; HUMAN HAND MODELING; HUMAN HANDS; IN-DEPTH UNDERSTANDING; MOTION CAPTURING; MOTION RECOGNITION; MULTIFINGERED ROBOT MANIPULATION AND COGNITIVE ROBOTICS; OBJECT MANIPULATION; PERCEPTION-ACTION; PRACTICAL ISSUES; PROSTHETIC HANDS; RECOGNITION ALGORITHM; RESEARCH CHALLENGES; ROBOT HAND; SCIENTIFIC FINDINGS; SKILL TRANSFER;

HEALTH CARE; RESEARCH; ROBOTS;

ALGORITHMS;

EID: 80051786361     PISSN: 15513203     EISSN: None     Source Type: Journal    
DOI: 10.1109/TII.2011.2158838     Document Type: Article

References (76)

1. N. Palastanga, D. Field, and R. Soames, Anatomy and Human Movement-Structure and Function, 5th ed. New York: Elsevier, 2006.
2. L. Dipietro, A. Sabatini, and P. Dario, "A survey of glove-based systems and their applications," IEEE Trans. Syst., Man, Cybern., Part C, vol. 38, no. 4, pp. 461-482, Jul. 2008.
3. B. Argall and A. Billard, "A survey of tactile human-robot interactions," Robotics and Autonomous Systems, vol. 58, pp. 1159-1176, 2010.
4. A. Muzumdar, Powered Upper Limb Prostheses. New York: Springer, 2004, pp. 208-208.
5. Y. Matsuoka, P. Afshar, and M. Oh, "On the design of robotic hands for brain-machine interface," Neurosurgical Focus, vol. 20, no. 5, pp. 1-9, 2006.
6. X. Zhu and H. Ding, "Computation of force-closure grasps: An iterative algorithm," IEEE Trans. Robot., vol. 22, no. 1, pp. 172-179, Feb. 2006.
7. X. Zhu and H. Ding, "An efficient algorithm for grasp synthesis and fixture layout design in discrete domain," IEEE Trans. Robot., vol. 23, no. 1, pp. 157-163, Feb. 2007.
8. G. Gomez, A. Hernandez, P. E. Hotz, and R. Pfeifer, "An adaptive learning mechanism for teaching a robot to grasp," in Proc. Int. Symp. Adaptive Motion of Animals and Machines, 2005, pp. 1-8.
9. A. Malinowski and H. Yu, "Comparison of embedded system design for industrial application," IEEE Trans. Ind. Informat., vol. 7, no. 2, pp. 244-254, May 2011.
10. S. Fischmeister and P. Lam, "Time-aware instrumentation of embedded software," IEEE Trans. Ind. Informat., vol. 6, no. 4, pp. 652-663, Nov. 2010.
11. A. Quagli, D. Fontanelli, D. Greco, L. Palopoli, and A. Bicchi, "Design of embedded controllers based on anytime computing," IEEE Trans. Ind. Informat., vol. 6, no. 4, pp. 492-502, Nov. 2010.
12. A. Chella, H. Dzindo, I. Infantino, and I. Macaluso, "A posture sequence learning system for an anthropomorphic robotic hand," Robot. Autonomous Syst., vol. 47, no. 2-3, pp. 143-152, 2004.
13. M. Carrozza, G. Cappiello, S. Micera, B. Edin, L. Beccai, and C. Cipriani, "Design of a cybernetic hand for perception and action," Biol. Cybern., vol. 95, no. 6, pp. 629-644, 2006.
14. S. Calinon, F. Guenter, and A. Billard, "On learning, representing, and generalizing a task in a humanoid robot," IEEE Trans. Syst., Man, Cybern., Part B, vol. 37, no. 2, pp. 286-298, Apr. 2007.
15. T. J. Bradberry and J. Contreras-Vidal, "Reconstructing three-dimensional hand movements from non-invasive electroencephalographic signals," J. Neuroscience, unpublished.
16. R. Gentner and J. Classen, "Development and evaluation of a low-cost sensor glove for assessment of human finger movements in neurophysiological settings," J. Neurosci. Methods, vol. 178, no. 1, pp. 138-147, 2009.
17. C. Metcalf, S. Notley, P. Chappell, J. Burridge, and V. Yule, "Validation and application of a computational model for wrist movements using surface markers," IEEE Trans. Biomed. Eng., vol. 55, no. 3, pp. 1199-1210, Mar. 2008.
18. T. Moeslund and E. Granum, "A survey of computer vision-based human motion capture," Comput. Vision and Image Understanding, vol. 81, no. 3, pp. 231-268, 2001.
19. X. Ji and H. Liu, "Advances in view-invariant human motion analysis: A review," IEEE Trans. Syst., Man, Cybern., Part C, vol. 40, no. 1, pp. 13-24, Jan. 2010.
20. C. Metcalf and S. Notley, "Modified kinematic technique for measuring pathological hyperextension and hypermobility of the interphalangeal joints," IEEE Trans. Biomed. Eng., unpublished.
21. C. Fleischer and G. Hommel, "Calibration of an EMG-based body model with six muscles to control a leg exoskeleton," in Proc. Int. Conf. Robot. Autom., 2007, pp. 2514-2519.
22. Delsys Inc. [Online]. Available: Http://www.delsys.com
23. H. Liu, "A fuzzy qualitative framework for connecting robot qualitative and quantitative representations," IEEE Trans. Fuzzy Syst., vol. 16, no. 6, pp. 1522-1530, Dec. 2008.
24. T. Yoshikawa, "Multifingered robot hands: Control for grasping and manipulation," Annu. Rev. Control, vol. 34, pp. 199-208, 2010.
25. S. Mitra and T. Acharya, "Gesture recognition: A survey," IEEE Trans. Syst., Man, Cybern., Part C, vol. 37, no. 3, pp. 311-324, May 2007.
26. Z. Ju and H. Liu, "A unified fuzzy framework for human hand motion recognition," IEEE Trans. Fuzzy Syst., unpublished.
27. S. Fels and G. Hinton, "Glove-talkii-a neural-network interface which maps gestures to parallel format speech synthesizer controls," IEEE Trans. Neural Networks, vol. 9, no. 1, pp. 205-212, 1998.
28. E. Stergiopoulou and N. Papamarkos, "Hand gesture recognition using a neural network shape fitting technique," Eng. Appl. Artif. Intell., vol. 22, pp. 1141-1158, 2009.
29. G. Heumer, H. Amor, and B. Jung, "Grasp recognition for uncalibrated data gloves: A machine learning approach," PRESENCE: Teleoperators and Virtual Environments, vol. 17, no. 2, pp. 121-142, 2008.
30. R. Palm, B. Iliev, and B. Kadmiry, "Recognition of human grasps by time-clustering and fuzzy modeling," Robot. Autonomous Syst., vol. 57, no. 5, pp. 484-495, 2009.
31. E. Sudderth, M. Mandel, W. Freeman, and A. Willsky, "Visual hand tracking using nonparametric belief propagation," in Proc. Int. Conf. Comput. Vision and Pattern Recognit., 2004, pp. 189-189.
32. J. Lin and T. Wu, "Modeling the constraints of human hand motion," Urbana, vol. 51, no. 61, pp. 801-809.
33. C. Chua, H. Guan, and Y. Ho, "Model-based 3D hand posture estimation from a single 2D image," Image and Vision Comp., vol. 20, no. 3, pp. 191-202, 2002.
34. B. Miners, O. Basir, and M. Kamel, "Understanding hand gestures using approximate graph matching," IEEE Trans. Syst., Man, Cybern., Part A, vol. 35, no. 2, pp. 239-248, Mar. 2005.
35. C. Chan and H. Liu, "Fuzzy qualitative human motion analysis," IEEE Trans. Fuzzy Syst., vol. 17, no. 4, pp. 851-862, Aug. 2009.
36. N. Binh, E. Shuichi, and T. Ejima, "Real-time hand tracking and gesture recognition system," in Proc. Int. Conf. Graphics, Vision, Image, 2005, pp. 362-368.
37. J. Triesch and C. von der Malsburg, "Classification of hand postures against complex backgrounds using elastic graph matching," Image and Vision Comput., vol. 20, no. 13-14, pp. 937-943, 2002.
38. S. Ge, Y. Yang, and T. Lee, "Hand gesture recognition and tracking based on distributed locally linear embedding," Image and Vision Comput., vol. 26, no. 12, pp. 1607-1620, 2008.
39. B. Stenger, A. Thayananthan, P. Torr, and R. Cipolla, "Estimating 3D hand pose using hierarchical multi-label classification," Image and Vision Comput., vol. 25, no. 12, pp. 1885-1894, 2007.
40. A. Just and S. Marcel, "A comparative study of two state-of-the-art sequence processing techniques for hand gesture recognition," Comput. Vision and Image Understanding, vol. 113, no. 4, pp. 532-543, 2009.
41. N. Binh and T. Ejima, "Real-time hand gesture recognition using pseudo 3-D hidden Markov model," in Proc. Int. Conf. Cognitive Informat., 2006, vol. 2, pp. 1-8.
42. M. Yeasin and S. Chaudhuri, "Visual understanding of dynamic hand gestures," Pattern Recognit., vol. 33, no. 11, pp. 1805-1817, 2000.
43. J. Lin, "Visual hand tracking and gesture analysis," Ph.D. dissertation, Univ. Illinois at Urbana-Champaign, Urbana, IL, 2004.
44. H. Kawasaki, T. Furukawa, S. Ueki, and T. Mouri, "Virtual robot teaching based on motion analysis and hand manipulability for multi-fingered robot," J. Adv. Mech. Design, Syst., Manuf., vol. 3, no. 1, pp. 1-12, 2009.
45. Z. Wang, J. Yuan, and M. Buss, "Modelling of human haptic skill: A framework and preliminary results," in Proc. 17th IFAC World Congr., 2008, pp. 1-8.
46. M. Kondo, J. Ueda, and T. Ogasawara, "Recognition of in-hand manipulation using contact state transition for multifingered robot hand control," Robot. Autonomous Syst., vol. 56, no. 1, pp. 66-81, 2008.
47. N. Gorges, S. Navarro, D. Goger, and H. Worn, "Haptic object recognition using passive joints and haptic key features," in Proc. IEEE Int. Conf. Robot. Autom., 2010, pp. 2349-2355.
48. K. Watanabe, K. Ohkubo, S. Ichikawa, and F. Hara, "Classification of prism object shapes utilizing tactile spatiotemporal differential information obtained from grasping by single-finger robot hand with soft tactile sensor array," J. Robot. Mechatronics, vol. 19, no. 1, pp. 85-96, 2007.
49. K. Hosoda and T. Iwase, "Robust haptic recognition by anthropomorphic bionic hand through dynamic interaction," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., 2010, pp. 1236-1241.
50. K. Sato, K. Kamiyama, N. Kawakami, and S. Tachi, "Finger-shaped gelforce: Sensor for measuring surface traction fields for robotic hand," IEEE Trans. Haptics, vol. 3, no. 1, pp. 37-47, Jan.-Mar. 2010.
51. S. Takamuku, A. Fukuda, and K. Hosoda, "Repetitive grasping with anthropomorphic skin-covered hand enables robust haptic recognition," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., 2008, pp. 3212-3217.
52. T. Farrell and R. Weir, "A comparison of the effects of electrode implantation and targeting on pattern classification accuracy for prosthesis control," IEEE Trans. Biomed. Eng., vol. 55, no. 9, pp. 2198-2211, 2008.
53. E. N. Kamavuako, D. Farina, K. Yoshida, and W. Jensen, "Relationship between grasping force and features of single-channel intramuscularEMGsignals, " J. Neurosci. Methods, vol. 185, no. 1, pp. 143-150, 2009.
54. K. Wheeler, M. Chang, K. Knuth, N. Center, I. Div, and C. M. Field, "Gesture-based control and EMG decomposition," IEEE Trans. Syst., Man, Cybern., Part C, vol. 36, no. 4, pp. 503-514, Jul. 2006.
55. F. Mobasser and K. Hashtrudi-Zaad, "A method for online estimation of human arm dynamics," in Proc. IEEE Int. Conf. Eng. Med. Biol. Soc., 2006, vol. 1, pp. 2412-2416.
56. S. Kawano, D. Okumura, H. Tamura, H. Tanaka, and K. Tanno, "Online learning method using support vector machine for surface-electromyogram recognition," Artif. Life Robot., vol. 13, no. 2, pp. 483-487, 2009.
57. C. Castellini and P. van der Smagt, "Surface EMG in advanced hand prosthetics," Biol. Cybern., vol. 100, no. 1, pp. 35-47, 2009.
58. Y. Liu, H. Huang, and C. Weng, "Recognition of electromyographic signals using cascaded kernel learning machine," IEEE/ASME Trans. Mechatronics, vol. 12, no. 3, pp. 253-264, 2007.
59. L. Mesin, R. Merletti, and A. Rainoldi, "Surface EMG: The issue of electrode location," J. Electromyography and Kinesiology, vol. 19, no. 5, pp. 719-726, 2009.
60. J. Feinberg, "EMG: Myths and facts," HSS Journal, vol. 2, no. 1, pp. 19-21, 2006.
61. X. Zhu, H. Ding, and M.Wang, "A numerical test for the closure properties of 3-D grasps," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 543-549, Jun. 2004.
62. X. Zhu and J.Wang, "Synthesis of force-closure grasps on 3-D objects based on the Q distance," IEEE Trans. Robot. Autom., vol. 19, no. 4, pp. 669-679, Aug. 2003.
63. L. Zollo, S. Roccella, E. Guglielmelli, M. Carrozza, and P. Dario, "Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic and robotic applications," IEEE/ASME Trans. Mechatronics, vol. 12, no. 4, pp. 418-429, Aug. 2007.
64. A. Bicchi, "Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity," IEEE Trans. Robot. Autom., vol. 16, no. 6, pp. 652-662, 2002.
65. H. Liu, P. Meusel, N. Seitz, B.Willberg, G. Hirzinger,M. Jin, Y. Liu, R. Wei, and Z. Xie, "The modular multisensory DLR-HIT-Hand," Mechanism and Machine Theory, vol. 42, no. 5, pp. 612-625, 2007.
66. H. Kawasaki, T.Komatsu, and K. Uchiyama, "Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II," IEEE/ ASME Trans. Mechatronics, vol. 7, no. 3, pp. 296-303, Sep. 2002.
67. S. Sun, C. Rosales, and R. Suarez, "Study of coordinated motions of the human hand for robotic applications," in Proc. IEEE Int. Conf. Inform. Autom., 2010, pp. 776-781.
68. T. Laliberte and C. Gosselin, "Simulation and design of underactuated mechanical hands," Mech. Machine Theory, vol. 33, no. 1-2, pp. 39-57, 1998.
69. C. Connolly, "Prosthetic hands from Touch Bionics," Industrial Robot: An Int. J., vol. 35, no. 4, pp. 290-293, 2008.
70. Bebionic hand Bebionic, 2011. [Online]. Available: Http://www.bebionic. com/
71. P. Kyberd, C. Wartenberg, L. Sandsoj, S. Jonsson, D. Gow, J. Frid, C. Almstrom, and L. Sperling, "Survey of upper-extremity prosthesis users in Sweden and the United Kingdom," J. Prosthetics and Orthotics, vol. 19, no. 2, pp. 55-62, 2007.
72. C. Cipriani, F. Zaccone, S. Micera, and M. Carrozza, "On the shared control of an EMG-controlled prosthetic hand: Analysis of user-prosthesis interaction," IEEE Trans. Robotics, vol. 24, no. 1, pp. 170-184, Feb. 2008.
73. C. Pylatiuk, A. Kargov, and S. Schulz, "Design and evaluation of a low-cost force feedback system for myoelectric prosthetic hands," J. Prosthetics and Orthotics, vol. 18, no. 2, pp. 57-61, 2006.
74. I. Gaiser, C. Pylatiuk, S. Schulz, A. Kargov, R. Oberle, and T. Werner, "The FLUIDHAND III: A multifunctional prosthetic hand," J. Prosthetics and Orthotics, vol. 21, no. 2, pp. 91-97, 2009.
75. T. Rhee, U. Neumann, and J. Lewis, "Human hand modeling from surface anatomy," in Proc. Symp. Interactive 3D Graphics and Games, 2006, pp. 1-6.
76. N. Motoi, M. Ikebe, and K. Ohnishi, "Real-time gait planning for pushing motion of humanoid robot," IEEE Trans. Ind. Informat., vol. 3, no. 2, pp. 154-163, May 2007.