ジェスチャーを超えて：手首装着型圧力センサアレイによる全手姿勢と接触力の推定
Beyond Gestures: Estimating Full Hand Pose and Contact Forces from Wrist-Worn Pressure Sensor Array
手首周りのフレキシブルな容量性センサアレイとリカレントネットワークを用いて、手の全関節姿勢と指先の接触力を連続的に推定するウェアラブルシステムを提案し、その有効性を実験で示した。
著者: Svetoslav Kolev, Lingni Ma, Michael Goesele, Renzo De Nardi, Jakob Engel, Richard Newcombe
分類: cs.HC, cs.RO
原文アブストラクト
Capturing hand motion and interaction forces is critical for interactive computing, VR, and high-fidelity tactile demonstrations for robot learning. We introduce a wrist-worn pressure-sensing wristband that recovers continuous full-hand pose and distributed contact force on a single wearable. The system consists of flexible capacitive sensor arrays around the wrist, which require no electrical skin contact, and a recurrent network that maps the resulting pressure signal to hand state. Our key insight is that muscle contraction and tendon displacement produce pressure patterns, which correlate strongly with hand pose and interaction force. To validate this, we collect synchronized recordings of wrist pressure, optical motion-capture hand pose, and tactile-glove interaction force, covering isolated finger motion, fingertip-force stress tests, and natural hand-object manipulation. On isolated single-user motion the wristband attains $4.6^\circ$ mean finger-joint MAE, and across four users manipulating everyday objects it estimates per-finger contact force at $R^2=0.57$, which an external pose signal brings up to $0.75$. We see the wristband as one node in a constellation of everyday wearables -- e.g. paired with an egocentric camera -- adding the contact force that vision cannot observe and taking over when the hand is occluded.