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Related Experiment Video

Updated: Mar 27, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Deducing the reachable space from fingertip positions.

Hai-Trieu Pham, Pubudu N Pathirana

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |January 7, 2016
    PubMed
    Summary

    This study introduces a non-contact method using the Leap Motion Controller to determine the hand

    Area of Science:

    • Biomedical Engineering
    • Human-Computer Interaction
    • Robotics

    Background:

    • The reachable space of the hand is critical in various medical and research fields.
    • Traditional methods using motion capture systems (e.g., gloves, markers) involve physical contact, posing challenges for individuals with hand injuries, burns, or dermatological conditions.

    Purpose of the Study:

    • To develop and validate a non-contact approach for calculating the hand's reachable space.
    • To utilize the Leap Motion Controller for accurate, contact-free measurement of hand kinematics.

    Main Methods:

    • Employing the Leap Motion Controller to capture fingertip motion paths.
    • Solving the inverse kinematic problem for each fingertip position under human hand physiological constraints.
    • Unifying joint configurations to define the complete set of possible hand movements for a given motion.

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    Main Results:

    • Successfully computed the reachable space without direct physical contact with the hand.
    • Demonstrated the feasibility of using fingertip trajectory analysis for kinematic modeling.
    • Established a method to derive reachable space from the full range of finger joint configurations.

    Conclusions:

    • The proposed non-contact method offers a viable alternative for assessing hand reachable space, especially for sensitive populations.
    • Leap Motion Controller technology provides a practical tool for non-invasive hand kinematic analysis.
    • This approach enhances accessibility and comfort in hand function assessment.