Estimation of contact regions between hands and objects during human multi-digit grasping
Estimation of contact regions between hands and objects during human multi-digit grasping
To grasp an object successfully, we must select appropriate contact regions for our hands on the surface of the object. However, identifying such regions is challenging. This paper describes a workflow to estimate the contact regions from marker-based tracking data. Participants grasp real objects, while we track the 3D position of both the objects and the hand, including the fingers' joints. We first determine the joint Euler angles from a selection of tracked markers positioned on the back of the hand. Then, we use state-of-the-art hand mesh reconstruction algorithms to generate a mesh model of the participant's hand in the current pose and the 3D position. Using objects that were either 3D printed or 3D scanned-and are, thus, available as both real objects and mesh data-allows the hand and object meshes to be co-registered. In turn, this allows the estimation of approximate contact regions by calculating the intersections between the hand mesh and the co-registered 3D object mesh. The method may be used to estimate where and how humans grasp objects under a variety of conditions. Therefore, the method could be of interest to researchers studying visual and haptic perception, motor control, human-computer interaction in virtual and augmented reality, and robotics.
Hartmann, Frieder
744a8944-e6cb-46fb-899d-9e87084d127f
Maiello, Guido
c122b089-1bbc-4d3e-b178-b0a1b31a5295
Rothkopf, Constantin A.
6fe6542f-60e4-4099-9ab2-c7a98ffe5d75
Fleming, Roland W.
f9a60356-03e6-4931-a332-f3a7aa9f9915
21 April 2023
Hartmann, Frieder
744a8944-e6cb-46fb-899d-9e87084d127f
Maiello, Guido
c122b089-1bbc-4d3e-b178-b0a1b31a5295
Rothkopf, Constantin A.
6fe6542f-60e4-4099-9ab2-c7a98ffe5d75
Fleming, Roland W.
f9a60356-03e6-4931-a332-f3a7aa9f9915
Hartmann, Frieder, Maiello, Guido, Rothkopf, Constantin A. and Fleming, Roland W.
(2023)
Estimation of contact regions between hands and objects during human multi-digit grasping.
Journal of Visualized Experiments, 2023 (194), [e64877].
(doi:10.3791/64877).
Abstract
To grasp an object successfully, we must select appropriate contact regions for our hands on the surface of the object. However, identifying such regions is challenging. This paper describes a workflow to estimate the contact regions from marker-based tracking data. Participants grasp real objects, while we track the 3D position of both the objects and the hand, including the fingers' joints. We first determine the joint Euler angles from a selection of tracked markers positioned on the back of the hand. Then, we use state-of-the-art hand mesh reconstruction algorithms to generate a mesh model of the participant's hand in the current pose and the 3D position. Using objects that were either 3D printed or 3D scanned-and are, thus, available as both real objects and mesh data-allows the hand and object meshes to be co-registered. In turn, this allows the estimation of approximate contact regions by calculating the intersections between the hand mesh and the co-registered 3D object mesh. The method may be used to estimate where and how humans grasp objects under a variety of conditions. Therefore, the method could be of interest to researchers studying visual and haptic perception, motor control, human-computer interaction in virtual and augmented reality, and robotics.
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Published date: 21 April 2023
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Funding Information:
This research was funded by Deutsche Forschungsgemeinschaft (DFG, German Research Foundation: project No. 222641018-SFB/TRR 135 TP C1 and IRTG-1901 "The Brain in Action") and by the Research Cluster "The Adaptive Mind" funded by the Excellence Program of the Hessian Ministry of Higher Education, Science, Research, and Art. The authors thank the Qualisys support team, including Mathias Bankay and Jeffrey Thingvold, for assistance in developing our methods. The authors also thank Michaela Jeschke for posing as the hand model. All data and analysis scripts to reproduce the method and the results presented in the manuscript are available on Zenodo (doi: 10.5281/zenodo.7458911).
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© 2023 JoVE Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License
Identifiers
Local EPrints ID: 484873
URI: http://eprints.soton.ac.uk/id/eprint/484873
ISSN: 1940-087X
PURE UUID: ebac3880-ba12-4893-befc-6bb11320237f
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Date deposited: 23 Nov 2023 17:56
Last modified: 06 Jun 2024 02:17
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Contributors
Author:
Frieder Hartmann
Author:
Guido Maiello
Author:
Constantin A. Rothkopf
Author:
Roland W. Fleming
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