Hand posture prediction using neural networks within a biomechanical model
Impacto
Scholar |
Otros documentos de la autoría: Mora, Marta Covadonga; Sancho-Bru, Joaquin L.; Pérez-González, Antonio
Metadatos
Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
comunitat-uji-handle4:
INVESTIGACIONMetadatos
Título
Hand posture prediction using neural networks within a biomechanical modelFecha de publicación
2012Editor
In-TechISSN
1729-8806; 1729-8814Cita bibliográfica
International Journal of Advanced Robotic Sy, (2012), Vol. 9, 139Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://cdn.intechopen.com/pdfs/40294/InTech-Hand_posture_prediction_using_neural ...Palabras clave / Materias
Resumen
This paper proposes the use of artificial neural
networks (ANNs) in the framework of a biomechanical
hand model for grasping. ANNs enhance the model
capabilities as they substitute estimated data for the
experimental ... [+]
This paper proposes the use of artificial neural
networks (ANNs) in the framework of a biomechanical
hand model for grasping. ANNs enhance the model
capabilities as they substitute estimated data for the
experimental inputs required by the grasping algorithm
used. These inputs are the tentative grasping posture and
the most open posture during grasping. As a
consequence, more realistic grasping postures are
predicted by the grasping algorithm, along with the
contact information required by the dynamic
biomechanical model (contact points and normals).
Several neural network architectures are tested and
compared in terms of prediction errors, leading to
encouraging results. The performance of the overall
proposal is also shown through simulation, where a
grasping experiment is replicated and compared to the
real grasping data collected by a data glove device. [-]
Publicado en
International Journal of Advanced Robotic Sy, (2012), Vol. 9, núm. 139Derechos de acceso
© 2004–2013 InTech — Open Access Company
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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