NDLI: Fast recognition of postures for a simplified three-fingered artificial hand

Content Provider	IEEE Xplore Digital Library
Author	Finat, J. Gonzalo-Tasis, M.
Copyright Year	1998
Description	Author affiliation: Fac. of Sci., Valladolid Univ., Spain (Finat, J.)
Abstract	Real-time navigation is one of the major trends in mobile robotics. Visual navigation of a hand requires integration of visual processes and motor control. Fast computer analysis of articulated objects is only possible under strong constraints relative to features to identify, postures obtained by grouping processes and motions connecting postures. In the paper we obtain a symbolic or virtual local representation of a two-fingered articulated hand, in terms of angles measured at 0-dimensional features (double and triple junctions), which are connected by means of meaningful segments in planar representations. Knowledge about the geometry of the artificial hand and kinematics of articulated mechanisms is applied to provide a fast symbolic representation for postures, in terms of matrix spaces which we store as certain type of grassmannians. Geometric information about kinematic multichains corresponding to fingers is used for predicting and tracking evolution of symbolic representation associated to postures by describing linear symbolic models for physiological restrictions based on artificial mechanisms.
Starting Page	3466
Ending Page	3470
File Size	675007
Page Count	5
File Format	PDF
ISBN	0780347781
ISSN	1062922X
DOI	10.1109/ICSMC.1998.726559
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-10-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Kinematics Mobile robots Motor drives Motion analysis Joining processes Goniometers Geometry Transmission line matrix methods Fingers
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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