距離センサアレイを用いた前腕形状計測に基づく手の関節角度の推定

抄録

In this study, we propose a method for hand joint angle estimation based on forearm deformation measured with a distance sensor array. The developed distance sensor array can fit the forearm to measure small deformation, since it was made based on a 3D model of the forearm. We show experimentally that the proposed method can estimate not only the angles of wrist flexion/extension and the hand closing/opening but also pronation/supination from the activity of the deep layer muscles. The error rate is 8.9° or less for each joint angle. The results show that the proposed method is useful for hand joint angle estimation including pronation and supination motion of the forearm.