Task recognition system
The task recognition system is responsible for accepting sensory data,
interpreting them, and producing descriptions of the task performed by the
human operator.
In our system, the task recognition module first segments the task
sequence into its constitutent phases, namely the
pregrasp, grasp, and manipulation phases. This
task segmentation
procedure uses human hand motion profiles to divide the
entire task sequence into separate parts for individual analysis.
Subsequently, this module analyzes the grasp frame to recognize the human
grasp. Grasp recognition is done using the
grasp taxonomy that we have
developed; this taxonomy is based on a 3D graphical hand-object
representation which we call the
contact web.
We augment the grasp taxonomy with higher-level grasp abstraction concepts
such as the
virtual finger and
opposition space.
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