Conference Paper

Grasp strategy when experiencing hands of various size

Dept. of Precision Eng., Univ. of Tokyo, Tokyo
DOI: 10.1109/ROBIO.2007.4522373 Conference: Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Source: IEEE Xplore


An objective evaluation of a system that provides the experience of hands of different sizes is performed from the viewpoint of the change in grasping pattern. The hand size is recognized as being different from that of the subject's actual hand (normal hand) when the hands of various sizes are presented in an environment that appears to be of constant size. This is achieved by viewing a hand and an analogous object through an optical system that adjusts its scaling rate to visually maintain the object size. An objective evaluation of this system is performed by investigating the grasp strategy depending on the hand size and object size reported in T. Shirai et al. (1998). The experimental results reveal that a similar grasp strategy that depends on hand size is observed for the proposed system based on the presented hand size. In addition, the experimental results reveal that it is important to vary the hand and object sizes visually through an optical system rather than simply using analogous objects without visual scaling.

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    • "This section examines the necessity of pre-operations, i.e., whether any pre-operation is inevitable for adaptation to the experience of differently sized hands in the case of various transitions of presented hand size. In the various transitions, the DOI is compared between conditions with and without the pre-operation which is known to be sufficiently effective for the simulated experience [7]. If there is a difference in the comparison, the pre-operation is essential for the experience; otherwise, it is not needed. "
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    ABSTRACT: In this paper, we investigate pre-operations intended to adapt one to hands of controlled sizes when experiencing differently sized hands. Pre-operations are categorized into four types based on the relationship between a hand and an object. To quantify the degree of adaptation to differently sized hands, an index, called "Degree Of Immersion (DOI)," is defined. The index indicates the appropriateness of the observed behavior to the presented hand size. The DOI was measured to compare pre-operations when changing hands in size variously. The experimental comparisons led to two main points: (i) no pre-operation is required with decreasing hand size due to easy adaptation, (ii) a preoperation, touching and controlling an object in position, is sufficiently effective for adapting larger hands. These points are important for design aid applications to assess usability of designing products by various users.
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    ABSTRACT: This paper proposes a method for measuring 3-dimensional (3D) environment and estimating cam-era movement with two fish-eye images. This method deals with large distortion of images from a fish-eye camera to calibrate internal and external camera pa-rameters precisely by simultaneous estimation. In this paper, we analyze 3D measurement accuracy based on a theoretical model and evaluate it in practical analysis in experimental and real environments. These analy-ses show that the theoretical measurement error model works over a wide range of fish-eye views.
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    ABSTRACT: This paper reports the effect of pre-operation intended to familiarizing oneself with vicarious experiences of different-sized hands. To measure this effect, the index of degree of immersion (DOI) is pro- posed, which represents whether observed behavior is appropriate for the presented hand size. The DOI is measured for various sizes of hands when changing type of pre-operation which is classified based on relationship between hands and objects. The experimental results show that the pre- operation is effective for familiarizing the presented sized hand, especially in larger sized hands, and that behavior of touching and controlling an object in position is important for effective pre-operation.
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