Calibration of a Hand Exoskeleton Motion Capture Device using 3D Magnetic Sensors
2023 20TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS, UR(2023)
摘要
The paper proposes a calibration method to estimate calibration parameters of sensors and mechanisms simultaneously for a hand exoskeleton motion capture device that can be worn on VR user's hands. The device measures finger movements and uses the information to control the movement of avatar's hand. A dedicated calibration jig is developed covering finger workspace to collect data for calibration and Levenberg-Marquardt algorithm is adopted for optimization. Finally, it is shown 3D positional errors of fingertips are reduced to around 2 mm at a minimum. This calibration method is expected to be useful in XR applications and telepresence robotics.
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关键词
3D magnetic sensors,3D positional errors,avatar,calibration method,calibration parameters,dedicated calibration jig,finger movements,hand exoskeleton motion capture device,Levenberg-Marquardt algorithm,VR user
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