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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
D. Cehajic; S. Erhart; S. Hirche 
Title:
Grasp pose estimation in human-robot manipulation tasks using wearable motion sensors 
Pages contribution:
1031 - 1036 
Abstract:
Knowledge of the human grasp pose is crucial in common control schemes for human-robot object manipulation tasks. Biased estimates of the grasp pose cause undesired interaction wrenches on the human partner, which disturbs the interaction and the recognition of motion intention. A use of wearable motion sensors for tracking the human motion facilitates the grasp pose estimation without a global sensing system. This paper presents an approach for estimating...    »
 
Book / Congress title:
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2015 
Month:
Oct 
Pages:
1031-1036