ARUP; ISBN: 978-0-9562121-5-3 - CMBBE 2012 - Cardiff University

Table-2 : Uncertainty in joint angle estimation during palmer grasp.
(degree w.r.t vertical)
Joint
Angles/
Range
Case-1
θ ± 3σ
Case-2
θ ± 3σ
Z
Z
* ( θ -90 ) w.r.t horizontal for θ PIP and ** ( θ -180 ) for θ DIP which is with in the range.
Table-3 : Uncertainty in Joint offset estimation during palmer grasp. (mm)
li l i1 l i2 l i3 l T1 l T2 l T3
Case-1
Case-2
X
θ MCP
(BF)
[-15 0 ,15 0 ]
2.164
±3.57
-7.5
±1.2
l ± 3σ
41.92 ±1.45 21.19 ±2.19 20.127 ±2.04 62.47 ±0.98 30.05±1.58 22.81 ±1.77
i
l ± 3σ
44.0 ±4.0 21.0 ±4.0 20.0 ±4.0 68.0 ±4.0 32.0 ±4.0 23.0 ±4.0
m
l 3σ
8. CONCLUSION
i
± 39.07 ±1.07 21.59 ±0.73 22.87 ±3.63 60.70 ±1.19 21.88 ±0.91 23.93 ±0.85
l ± 3σ
42.0 ±4.0 22.0 ±4.0 23.0 ±4.0 69.0 ±4.0 23.0 ±4.0 21.0 ±4.0
m
In our approach projective geometry has been extensively used to extract the joint
angles and phalange lengths from a scene along with associated uncertainties. We are
mainly concerned with three canonical types of measurement: (i) distances of points
from planes and (ii) lengths of segments on planar surfaces (iii) angle between segments
in a planer surface. The list of extracted joint parameters is not exhaustive and any two
coplanar points of interest can be selected, whose distance and angle is required. The manual
approach of selecting the points though appears cumbersome at the first instance, but it
excludes the outliers straight away and also gives the user the freedom of selecting the
parameters which he wants. With user-friendly interface, the entire procedure is easy
and fast, even for a novice user.
9. REFERENCE
Z
θ MCP
(OP)
[0 0 ,90 0 ]
47.3
±1.11
63.2
±1.8
Z
θ PIP
(PQ)
[0 0 ,110 0 ]
152.2*
±3.4
126.2*
±2.1
Z
θ DIP
(QR)
[0 0 ,90 0 ]
210.7**
±4.4
212.8**
±5.1
X
θ CMC
(AJ)
[-15 0 ,80 0 Z
θ CMC
(NO)
] [-30 0 ,130 0 X
θ MP
(JK)
] [0 0 ,80 0 ]
-29.7
±1.3
-36.3
±0.8
37.2
±1.0
38.5
±1.1
9.2
±2.6
-17.6
±1.7
Z
θ MP
(ST)
[0 0 ,80 0 ]
9.0
±1.6
24.9
±1.1
Z
θ IP
(TU)
[0 0 ,110 0 ]
56.5
±4.5
32.0
±2.2
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