Title: A measurement setup for the 3D validation of fingertip deformation models

Authors: Felix Von Drigalski; Atsutoshi Ikeda; Tsukasa Ogasawara; Tamim Asfour

Addresses: Faculty of Information Science, Robotics Laboratory, Nara Institute of Science and Technology, Takayama 8916-5, Ikoma, Nara, 630-0192, Japan ' Faculty of Science and Engineering, Sensing Research Lab., Kindai University, Kowakae 3-4-1, Higashiosaka, Osaka, 577-8502, Japan ' Faculty of Information Science, Robotics Laboratory, Nara Institute of Science and Technology, Takayama 8916-5, Ikoma, Nara, 630-0192, Japan ' Faculty of Computer Science, Institute for Anthropomatics and Robotics (IAR), High Performance Humanoid Technologies (H2T), Adenauerring 2, 76131 Karlsruhe, Germany

Abstract: Deformable models of the human fingertip are commonly validated by evaluating a finger's silhouette when charged with a line load. To validate models, it would be desirable to measure 3D data of the fingertip at a high frequency. This paper proposes the use of a stereo camera setup to measure the 3D surface of the fingertip's side. The setup offers a theoretical depth resolution of 0.17 mm at a frame rate above 100 Hz. A feature point matching algorithm incorporating scene knowledge is implemented to obtain 3D points to which a paraboloid surface is fitted. Precision is compared with reference to a LIDAR sensor and experiments applying normal and tangential force to the fingertip recorded with a 6-DOF force sensor setup. The results imply that state-of-the-art feature-based algorithms are insufficient or unsuited to match the fingertip surface reliably. Further approaches are proposed to improve robustness.

Keywords: human modelling; digital human models; DHM; finger deformation; fingertip surface deformation; fingertip force measurement; stereo surface measurement; fingertip models; hand models; stereo vision; 3D validation; deformation modelling; feature point matching.

DOI: 10.1504/IJHFMS.2016.079707

International Journal of Human Factors Modelling and Simulation, 2016 Vol.5 No.3, pp.230 - 237

Received: 01 Oct 2015
Accepted: 11 Mar 2016
Published online: 10 Oct 2016 *

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