Multimodal Sensing Interface for Haptic Interaction

Figure 14

Extrinsic parameters represent the description of a frame attached to the hand . The corners of the hand trapezoid are used to “rectify” the effect of perspective (b). Each finger has a location on the normalized hand (c). A frame is assigned to the trapezoid (d) and extrinsic parameters are computed. Extrinsic parameters define the transformation in (e).

(a)

(b)

(c)

(d)

(e)