Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units

P.J. Kieliba, Petrus H. Veltink, T. Lisini Baldi, D. Prattichizzo, G. Santaera, A. Bicchi, M. Bianchi, Bernhard J.F. van Beijnum

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    Abstract

    The correct estimation of human hand kinematics has received a lot of attention in many research fields of neuroscience and robotics. Not surprisingly, many works have addressed hand pose reconstruction (HPR) problem and several technological solutions have been proposed. Among them, Inertial and Magnetic Measurement Unit (IMMU) based systems offer some elegant characteristics (including cost-effectiveness) that make these especially suited for wearable and ambulatory HPR. However, what still lacks is an exhaustive characterization of IMMU-based orientation tracking algorithms performance for hand tracking purposes. In this work, we have developed an experimental protocol to compare the performance of three of the most widely adopted HPR computational techniques, i.e. extended Kalman filter (EKF), Gauss-Newton with Complementary filter (CF) and Madgwick filter (MF), on the same dataset acquired through an IMMU-based sensing glove. The quality of the algorithms has been benchmarked against the ground truth measurement provided by an optical motion tracking system. Results suggest that performance of the three algorithms is similar, though the MF algorithm appears to be slightly more accurate in reconstructing the individual joint angles during static trials and to be the fastest one to run.
    Original languageEnglish
    Title of host publication 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
    PublisherIEEE
    Pages676-683
    Number of pages8
    ISBN (Electronic)978-1-5386-7283-9
    DOIs
    Publication statusPublished - 6 Nov 2018
    Event18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing Friendship Hotel, Beijing, China
    Duration: 6 Nov 20189 Nov 2018
    Conference number: 18
    http://humanoids2018.csp.escience.cn/dct/page/1

    Conference

    Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
    Abbreviated titleHumanoids 2018
    CountryChina
    CityBeijing
    Period6/11/189/11/18
    Internet address

    Keywords

    • Hand Pose Reconstruction Algorithms, IMMUs, User Study, Comprison of Algorithms

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  • Cite this

    Kieliba, P. J., Veltink, P. H., Lisini Baldi, T., Prattichizzo, D., Santaera, G., Bicchi, A., ... van Beijnum, B. J. F. (2018). Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) (pp. 676-683). IEEE. https://doi.org/10.1109/HUMANOIDS.2018.8624929