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

Figure 3

Computer vision algorithm for automatic control of FES based on Kinect data. Background is formed at the start of program execution; hand tracking and orientation estimation are performed in real time based on Kinect depth data, and object identification and grasp classification algorithms are executed when the object selection is changed based on RGB-D data.