Sub-millimetre accurate human hand kinematics: from surface to skeleton
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Updated: Feb 15, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
Published on: April 21, 2023
Jumana Ma'touq1, Tingli Hu1, Sami Haddadin1,2
1a Institute of Automatic Control , Leibniz Universität Hannover , Hannover , Germany .
Abstract:
A highly accurate human hand kinematics model and identification are proposed. The model includes the five digits and the palm arc based on mapping function between surface landmarks and estimated joint centres of rotation. Model identification was experimentally performed using a motion tracking system. The evaluation of the marker position estimation error, which is on sub-millimetre level across all digits, underlines model quality and accuracy. Noticeably, with the development of this model, we were able to improve various modelling assumptions from literature and found a basic linear relationship between surface and skeleton rotational angles.
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