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Erwan Normand
2024-10-21 11:39:31 +02:00
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2-related-work/1-haptic-hand.tex
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@@ -118,7 +118,7 @@ The joints at the base of each phalanx allow flexion and extension, \ie folding
The proximal phalanges can also adduct and abduct, \ie move the fingers towards and away from each other.
Finally, the metacarpal of the thumb is capable of flexion/extension and adduction/abduction, which allows the thumb to oppose the other fingers.
These axes of movement are called DoFs and can be represented by a \emph{kinematic model} of the hand with 27 DoFs as shown in \figref{blausen2014medical_hand}.
Thus the thumb has 5 DoFs, each of the other four fingers has 4 DoFs and the wrist has 6 DoFs and can take any position (3 DoFs) or orientation (3 DoFs) in space \cite{erol2007visionbased}.
Thus, the thumb has 5 DoFs, each of the other four fingers has 4 DoFs and the wrist has 6 DoFs and can take any position (3 DoFs) or orientation (3 DoFs) in space \cite{erol2007visionbased}.
This complex structure enables the hand to perform a wide range of movements and gestures. However, the way we explore and grasp objects follows simpler patterns, depending on the object being touched and the aim of the interaction.
@@ -144,11 +144,6 @@ It takes only \qtyrange{2}{3}{\s} to perform these procedures, except for contou
\fig{exploratory_procedures}{Exploratory procedures and their associated object properties (in brackets). Adapted from \textcite{lederman2009haptic}.}
%Le sens haptique seul (sans la vision) nous permet ainsi de reconnaitre les objets et matériaux avec une grande précision.
%La reconnaissance des propriété matérielles, \ie la surface et sa texture, rigidité et température est meilleure qu'avec le sens visuel seul.
%Mais la reconnaissance des propriétés spatiales, la forme et la taille de l'objet, est moins bonne avec l'haptique qu'avec la vision \cite{lederman2009haptic}.
%Quelques secondes (\qtyrange{2}{3}{\s}) suffisent pour effectuer ces procédures, à l'exception du suivi de contour qui peut prendre une dizaine de secondes \cite{jones2006human}.
\subsubsection{Grasp Types}
\label{grasp_types}