{"id":"https://openalex.org/W2037855341","doi":"https://doi.org/10.1109/embc.2012.6347551","title":"Multi-constrained inverse kinematics for the human hand","display_name":"Multi-constrained inverse kinematics for the human hand","publication_year":2012,"publication_date":"2012-08-01","ids":{"openalex":"https://openalex.org/W2037855341","doi":"https://doi.org/10.1109/embc.2012.6347551","mag":"2037855341","pmid":"https://pubmed.ncbi.nlm.nih.gov/23367486"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2012.6347551","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2012.6347551","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077553473","display_name":"Ali Akbar Samadani","orcid":"https://orcid.org/0000-0003-2701-9943"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"A. Samadani","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Waterloo, Waterloo ON N2L 3G1, Canada. asamadani@uwaterloo.ca","Electrical and Computer Engineering Department at the University of Waterloo, ON N2L 3G1, CANADA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Waterloo, Waterloo ON N2L 3G1, Canada. asamadani@uwaterloo.ca","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department at the University of Waterloo, ON N2L 3G1, CANADA","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072377971","display_name":"Dana Kuli\u0107","orcid":"https://orcid.org/0000-0002-4169-2141"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"D. Kulic","raw_affiliation_strings":["Electrical and Computer Engineering Department, University of Waterloo, Waterloo, ONT, Canada","Electrical and Computer Engineering Department at the University of Waterloo, ON N2L 3G1, CANADA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department at the University of Waterloo, ON N2L 3G1, CANADA","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036605802","display_name":"Rob Gorbet","orcid":"https://orcid.org/0000-0003-2799-3922"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"R. Gorbet","raw_affiliation_strings":["Centre for Knowledge Integration, University of Waterloo, Waterloo, ONT, Canada","Centre for Knowledge Integration at the University of Waterloo ON N2L 3G1 CANADA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Knowledge Integration, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Centre for Knowledge Integration at the University of Waterloo ON N2L 3G1 CANADA","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.12188202,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2012","issue":null,"first_page":"6780","last_page":"6784"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.8191133737564087},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7501604557037354},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7418873310089111},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7255652546882629},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6555953025817871},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5824532508850098},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5322691202163696},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.49794507026672363},{"id":"https://openalex.org/keywords/classification-of-discontinuities","display_name":"Classification of discontinuities","score":0.4889637231826782},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4657040238380432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45692160725593567},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4541926980018616},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3867926597595215},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27709150314331055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1301596760749817},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12079310417175293}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8191133737564087},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7501604557037354},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7418873310089111},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7255652546882629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6555953025817871},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5824532508850098},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5322691202163696},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.49794507026672363},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.4889637231826782},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4657040238380432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45692160725593567},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4541926980018616},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3867926597595215},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27709150314331055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1301596760749817},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12079310417175293},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006225","descriptor_name":"Hand","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007596","descriptor_name":"Joints","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007596","descriptor_name":"Joints","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007596","descriptor_name":"Joints","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008953","descriptor_name":"Models, Anatomic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008953","descriptor_name":"Models, Anatomic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008953","descriptor_name":"Models, Anatomic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013997","descriptor_name":"Time Factors","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013997","descriptor_name":"Time Factors","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013997","descriptor_name":"Time Factors","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015233","descriptor_name":"Models, Statistical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015233","descriptor_name":"Models, Statistical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015233","descriptor_name":"Models, Statistical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/embc.2012.6347551","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2012.6347551","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},{"id":"pmid:23367486","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/23367486","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.379.9127","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.379.9127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ece.uwaterloo.ca/~dkulic/pubs/SamadaniEMBC2012.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1553941146","https://openalex.org/W1965841482","https://openalex.org/W1988731604","https://openalex.org/W2006761437","https://openalex.org/W2020876801","https://openalex.org/W2032381220","https://openalex.org/W2040282514","https://openalex.org/W2060970792","https://openalex.org/W2064263864","https://openalex.org/W2086145307","https://openalex.org/W2091267546","https://openalex.org/W2116422660","https://openalex.org/W2126698653","https://openalex.org/W2138941277","https://openalex.org/W2144573888","https://openalex.org/W2148941619","https://openalex.org/W2152838710","https://openalex.org/W2154124367","https://openalex.org/W2155113159","https://openalex.org/W2158164339","https://openalex.org/W2160194549","https://openalex.org/W2165783492","https://openalex.org/W2271601212","https://openalex.org/W2755052775","https://openalex.org/W6683128514"],"related_works":["https://openalex.org/W1972096828","https://openalex.org/W2529137940","https://openalex.org/W4302048708","https://openalex.org/W2359913921","https://openalex.org/W4205298958","https://openalex.org/W1981385315","https://openalex.org/W2687915465","https://openalex.org/W3142528978","https://openalex.org/W4387399000","https://openalex.org/W2572731987"],"abstract_inverted_index":{"Measuring":[0],"the":[1,15,24,68,71,82,114,119],"spatial":[2],"and":[3,52,59],"temporal":[4],"characteristics":[5],"of":[6,18,20,49,70,113,127],"hand":[7,36,57,120,129],"movement":[8],"is":[9,64,74,121],"a":[10,29,47,124],"challenging":[11],"task":[12],"due":[13],"to":[14],"large":[16],"number":[17],"degrees":[19],"freedom":[21],"(DOF)":[22],"in":[23,95],"hand.":[25],"This":[26],"paper":[27],"presents":[28],"multi-constrained":[30,115],"inverse":[31],"kinematics":[32],"(IK)":[33],"approach":[34,45,88,117],"for":[35,55,118,123],"motion":[37,40,51,92],"estimation":[38],"from":[39,105],"capture":[41,93],"data.":[42],"The":[43,61,86,111],"IK":[44,116],"satisfies":[46],"set":[48],"prioritized":[50],"postural":[53],"constraints":[54,73],"each":[56],"joint":[58],"link.":[60],"high-priority":[62,83],"constraint":[63,84],"fully":[65],"satisfied,":[66],"while":[67],"fulfillment":[69],"low-priority":[72],"achieved":[75],"as":[76,78],"long":[77],"no":[79],"conflict":[80],"with":[81],"exists.":[85],"proposed":[87],"can":[89],"aid":[90],"marker-based":[91],"technologies":[94],"accurately":[96],"reconstructing":[97],"discontinuities":[98],"or":[99,108],"erroneous":[100],"marker":[101],"trajectory":[102],"segments":[103],"resulting":[104],"occluded,":[106],"missing,":[107],"flipped":[109],"markers.":[110],"performance":[112],"tested":[122],"full":[125],"range":[126],"continuous":[128],"motion.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}