Graphics enhanced version of this site

Toward Automatic Robot Instruction from Perception - Temporal Segmentation of Tasks from Human Hand Motion
S. Kang and K. Ikeuchi
IEEE Trans on Robotics and Automation, Vol. 11, No. 5, October, 1995, pp. 670 - 681.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [1254 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

This paper describes work on the temporal segmentation of grasping task sequences based on human hand motion. The segmentation process results in the identification of motion breakpoints separating the different constituent phases of the grasping task. A grasping task is composed of three basic phases: pregrasp phase, static grasp phase, and manipulation phase. We show that by analyzing the fingertip polygon area (which is an indication of the hand preshape) and the speed of hand movement (which is an indication of the hand transportation), we can divide a task into meaningful action segments such as approach object (which corresponds to the pregrasp phase), grasp object, manipulate object, place object, and depart (a special case of the pregrasp phase which signals the termination of the task). We introduce a measure called the volume sweep rate, which is the product of the fingertip polygon area and the hand speed. The profile of this measure is also used in the determination of the task breakpoints.

Associated center: VASC

S. Kang and K. Ikeuchi, "Toward Automatic Robot Instruction from Perception - Temporal Segmentation of Tasks from Human Hand Motion," IEEE Trans on Robotics and Automation, Vol. 11, No. 5, October, 1995, pp. 670 - 681.

@article{Kang_1995_1778,
   author = "Sing Bing Kang and Katsushi Ikeuchi",
   title = "Toward Automatic Robot Instruction from Perception - Temporal Segmentation of Tasks from Human Hand Motion",
   journal = "IEEE Trans on Robotics and Automation",
   month = "October",
   year = "1995",
   volume = "11",
   number = "5",
   pages = "670 - 681"
}