Hand posture prediction using neural networks within a biomechanical model
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Altres documents de l'autoria: Mora, Marta Covadonga; Sancho-Bru, Joaquin L.; Pérez-González, Antonio
Metadades
Mostra el registre complet de l'elementcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
comunitat-uji-handle4:
INVESTIGACIONMetadades
Títol
Hand posture prediction using neural networks within a biomechanical modelData de publicació
2012Editor
In-TechISSN
1729-8806; 1729-8814Cita bibliogràfica
International Journal of Advanced Robotic Sy, (2012), Vol. 9, 139Tipus de document
info:eu-repo/semantics/articleVersió de l'editorial
http://cdn.intechopen.com/pdfs/40294/InTech-Hand_posture_prediction_using_neural ...Paraules clau / Matèries
Resum
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. [-]
Publicat a
International Journal of Advanced Robotic Sy, (2012), Vol. 9, núm. 139Drets d'accés
© 2004–2013 InTech — Open Access Company
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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