Microsoft Kinect-Based Artificial Perception System for Control of Functional Electrical Stimulation Assisted Grasping

Figure 7

GUI of the MATLAB artificial perception software that presents feedback from the real-time hand tracking with orientation estimation and electrical stimulation control results. The hand position and orientation are tracked continuously in real time (denoted red), while the object model (blue) is determined only once for each object. In this example, the user reaches for the pen placed horizontally on the table surface. The system recognized the object, determined the grasp parameters, and automatically updated the stimulation parameters, and this resulted in a small lateral grasp and adequate hand pronation.