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Wed, Mar 23

Speaker: Jimmy Buffi (Dr. Murray's group)

Title: Developing and evaluating a cyberglove motion capture protocol

Abstract: The overall purpose of this investigation was to develop a more efficient Cyberglove motion capture protocol for the human hand linked to a kinematic model, as well as an evaluation procedure using computed tomography (CT). The proposed protocol was developed using the Immersion Cyberglove (San Jose, CA) for the purpose of capturing complex movements of the whole hand. The calibration method for the Cyberglove was adapted from a robot telemanipulation technique. The complete kinematic model was developed from an existing upper extremity model using current literature descriptions. To test the accuracy of the protocol, Cyberglove data was taken at the same time as CT scans and roll/pitch/yaw (RPY) angles between bones were found for each medium and compared. Using the CT scans as the “gold standard” for comparison enabled determination of the absolute accuracy and precision of the proposed protocol. In developing this protocol, several important design decisions were also made including the effect of fingertip shape, model scaling, and the inclusion of CMC joints on the calibration process. In addition, the question about CMC joint inclusion was investigated further along with the effect of calibration voltage offset error by examining the impact on protocol accuracy and precision.