TY - GEN
T1 - Tracking whole hand kinematics using extended Kalman filter
AU - Fu, Qiushi
AU - Santello, Marco
PY - 2010
Y1 - 2010
N2 - This paper describes the general procedure, model construction, and experimental results of tracking whole hand kinematics using extended Kalman filter (EKF) based on data recorded from active surface markers. We used a hand model with 29 degrees of freedom that consists of hand global posture, wrist, and digits. The marker protocol had 4 markers on the distal forearm and 20 markers on the dorsal surface of the joints of the digits. To reduce computational load, we divided the state space into four sub-spaces, each of which were estimated with an EKF in a specific order. We tested our framework and found reasonably accurate results (2-4 mm tip position error) when sampling tip to tip pinch at 120 Hz.
AB - This paper describes the general procedure, model construction, and experimental results of tracking whole hand kinematics using extended Kalman filter (EKF) based on data recorded from active surface markers. We used a hand model with 29 degrees of freedom that consists of hand global posture, wrist, and digits. The marker protocol had 4 markers on the distal forearm and 20 markers on the dorsal surface of the joints of the digits. To reduce computational load, we divided the state space into four sub-spaces, each of which were estimated with an EKF in a specific order. We tested our framework and found reasonably accurate results (2-4 mm tip position error) when sampling tip to tip pinch at 120 Hz.
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U2 - 10.1109/IEMBS.2010.5626513
DO - 10.1109/IEMBS.2010.5626513
M3 - Conference contribution
C2 - 21096228
AN - SCOPUS:78650845420
SN - 9781424441235
T3 - 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
SP - 4606
EP - 4609
BT - 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
T2 - 2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Y2 - 31 August 2010 through 4 September 2010
ER -