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Grasp Synthesis for Digital Hands with Limited Range of Motion in Their Thumb Joints
http://hdl.handle.net/10131/00012913
http://hdl.handle.net/10131/000129138d420ca9-9ef2-4ce8-9864-e904ca63616a
名前 / ファイル | ライセンス | アクション |
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SMC2019_takahashi.pdf (2.8 MB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2020-02-18 | |||||
タイトル | ||||||
タイトル | Grasp Synthesis for Digital Hands with Limited Range of Motion in Their Thumb Joints | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題 | Thumb | |||||
キーワード | ||||||
主題 | Range of motion | |||||
キーワード | ||||||
主題 | Solid modeling | |||||
キーワード | ||||||
主題 | Grasping | |||||
キーワード | ||||||
主題 | Cameras | |||||
キーワード | ||||||
主題 | Indexes | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
Takahashi, Reiko
× Takahashi, Reiko× Miyata, Natsuki× Maeda, Yusuke× Fujita, Koji |
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著者所属 | ||||||
Yokohama National University, Yokohama, Kanagawa, 240-8501, Japan | ||||||
著者所属 | ||||||
National Institute of Advanced Industrial Science and Technology, Tokyo, 135-0064, Japan | ||||||
著者所属 | ||||||
Yokohama National University, Yokohama, Kanagawa, 240-8501, Japan | ||||||
著者所属 | ||||||
Tokyo Medical and Dental University, Tokyo, 113-8510, Japan | ||||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | For virtual evaluation of universal design products, it is necessary to synthesize natural grasps for various hands including those with limited range of motion (ROM). In this paper, we study synthesizing grasps for digital hands with limited ROM in their thumbs’ joints. We apply a contact-region-based method for grasp synthesis to this problem. In our previous study, two types of grasps were observed under the limitation of the thumb’s ROM. One was a type that used the lateral region of the thumb, and the other was a type that used he same contact regions as healthy hands. In this paper, grasps are synthesized for two objects using three hand models whose lengths are different. With the same input information as the healthy hand, it is not possible to synthesize the grasps for the ROM-limited hand. On the other hand, when grasps are synthesized by changing the information about grasping target points of the thumb and the palm, feasible grasps for the ROM-limited hand can be found. For a camera object, the grasp using the thumb’s radial region is automatically synthesized without changing the specified contact region. Also, for a spray object, a grasp that uses the same contact region as the healthy hand is synthesized. These results demonstrate our method can synthesize natural grasps even for ROM-limited hands, which will contribute to universal product design. | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |||||
会議概要(会議名, 開催地, 会期, 主催者等) | ||||||
内容記述タイプ | Other | |||||
内容記述 | 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), 6-9 October 2019, Bari, Italy | |||||
書誌情報 | 発行日 2019-11-28 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/SMC.2019.8914453 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
出版者 | ||||||
出版者 | IEEE |