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Deducing the reachable space from fingertip positions

Pham, Hai-Trieu and Pathirana, Pubudu N. 2015, Deducing the reachable space from fingertip positions, in EMBC 2015 : 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society : A Bridge to Improve The Quality of Health Care and The Quality of Life, IEEE, Piscataway, N.J., pp. 7578-7581, doi: 10.1109/EMBC.2015.7320146.

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Title Deducing the reachable space from fingertip positions
Author(s) Pham, Hai-Trieu
Pathirana, Pubudu N.
Conference name IEEE Engineering in Medicine and Biology Society. Conference (37th : 2015 : Milano, Italy)
Conference location Milano, Italy
Conference dates 25-29 Aug. 2015
Title of proceedings EMBC 2015 : 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society : A Bridge to Improve The Quality of Health Care and The Quality of Life
Editor(s) Patton,J
Publication date 2015
Series IEEE engineering in medicine and biology society
Start page 7578
End page 7581
Total pages 4
Publisher IEEE
Place of publication Piscataway, N.J.
Summary The reachable space of the hand has received significant interests in the past from relevant medical researchers and health professionals. The reachable space was often computed from the joint angles acquired from a motion capture system such as gloves or markers attached to each bone of the finger. However, the contact between the hand and device can cause difficulties particularly for hand with injuries, burns or experiencing certain dermatological conditions. This paper introduces an approach to find the reachable space of the hand in a non-contact measurement form utilizing the Leap Motion Controller. The approach is based on the analysis of each position in the motion path of the fingertip acquired by the Leap Motion Controller. For each position of the fingertip, the inverse kinematic problem was solved under the physiological multiple constraints of the human hand to find a set of all possible configurations of three finger joints. Subsequently, all the sets are unified to form a set of all possible configurations specific for that motion. Finally, a reachable space is computed from the configuration corresponding to the complete extension and the complete flexion of the finger joint angles in this set.
ISBN 9781424492718
ISSN 1557-170X
Language eng
DOI 10.1109/EMBC.2015.7320146
Field of Research 010203 Calculus of Variations, Systems Theory and Control Theory
010204 Dynamical Systems in Applications
090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2015, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30080276

Document type: Conference Paper
Collection: School of Engineering
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