{"id":"https://openalex.org/W4309675393","doi":"https://doi.org/10.1109/smc53654.2022.9945223","title":"HyperPalm: DNN-based hand gesture recognition interface for intelligent communication with quadruped robot in 3D space","display_name":"HyperPalm: DNN-based hand gesture recognition interface for intelligent communication with quadruped robot in 3D space","publication_year":2022,"publication_date":"2022-10-09","ids":{"openalex":"https://openalex.org/W4309675393","doi":"https://doi.org/10.1109/smc53654.2022.9945223"},"language":"en","primary_location":{"id":"doi:10.1109/smc53654.2022.9945223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945223","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"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/A5016993913","display_name":"Elena Nazarova","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Elena Nazarova","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080612419","display_name":"Ildar Babataev","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ildar Babataev","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040449866","display_name":"Nipun Weerakkodi","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Nipun Weerakkodi","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052797806","display_name":"Aleksey Fedoseev","orcid":"https://orcid.org/0000-0003-2506-9111"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksey Fedoseev","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]},{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech,Moscow,Russian Federation","institution_ids":["https://openalex.org/I4210123104"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory Skoltech, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756","https://openalex.org/I4210123104"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2043","last_page":"2048"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9998000264167786,"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":0.9991999864578247,"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/computer-science","display_name":"Computer science","score":0.7405516505241394},{"id":"https://openalex.org/keywords/gesture-recognition","display_name":"Gesture recognition","score":0.7281782031059265},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.6193651556968689},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5459054112434387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5180437564849854},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.48861604928970337},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44992363452911377},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.4230252504348755},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42079275846481323},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35304147005081177}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7405516505241394},{"id":"https://openalex.org/C159437735","wikidata":"https://www.wikidata.org/wiki/Q1519524","display_name":"Gesture recognition","level":3,"score":0.7281782031059265},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.6193651556968689},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5459054112434387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5180437564849854},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.48861604928970337},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44992363452911377},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.4230252504348755},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42079275846481323},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35304147005081177},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc53654.2022.9945223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945223","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1481103847","https://openalex.org/W2094444216","https://openalex.org/W2109920783","https://openalex.org/W2570343428","https://openalex.org/W2734863770","https://openalex.org/W2758904459","https://openalex.org/W2768879211","https://openalex.org/W2889628315","https://openalex.org/W2900397023","https://openalex.org/W2942669704","https://openalex.org/W2963037989","https://openalex.org/W2963839048","https://openalex.org/W2971898048","https://openalex.org/W3032058861","https://openalex.org/W3043702302","https://openalex.org/W3109424835","https://openalex.org/W3116625396","https://openalex.org/W3119263734","https://openalex.org/W3126211537","https://openalex.org/W3152850320","https://openalex.org/W3181586060","https://openalex.org/W3204628706","https://openalex.org/W3206532678","https://openalex.org/W6786320795"],"related_works":["https://openalex.org/W2066003895","https://openalex.org/W2902873204","https://openalex.org/W2185750513","https://openalex.org/W2010878661","https://openalex.org/W3147379364","https://openalex.org/W2026258298","https://openalex.org/W3204639664","https://openalex.org/W2970836791","https://openalex.org/W2805039731","https://openalex.org/W2989699735"],"abstract_inverted_index":{"Nowadays,":[0],"autonomous":[1],"mobile":[2],"robots":[3,32],"support":[4],"people":[5],"in":[6,22,35,60,122,161],"many":[7],"areas":[8],"where":[9],"human":[10,40],"presence":[11],"either":[12],"redundant":[13],"or":[14],"too":[15],"dangerous.":[16],"They":[17],"have":[18],"successfully":[19],"proven":[20],"themselves":[21],"expeditions,":[23],"gas":[24],"industry,":[25],"mines,":[26],"warehouses,":[27],"etc.":[28],"However,":[29],"even":[30],"legged":[31],"may":[33],"stuck":[34],"rough":[36],"terrain":[37],"conditions":[38],"requiring":[39,72,248],"cognitive":[41],"abilities":[42],"to":[43,141,220],"navigate":[44],"the":[45,57,110,119,152,155,159,174,187,191,197,210,215,229],"system.":[46],"While":[47],"gamepads":[48],"and":[49,69,115,133,247],"keyboards":[50],"are":[51,89],"convenient":[52,85],"for":[53,77,100,186,209],"wheeled":[54],"robot":[55,59,121],"control,":[56],"quadruped":[58,105,120],"3D":[61,123],"space":[62,124],"can":[63],"move":[64],"along":[65],"all":[66],"linear":[67,166],"coordinates":[68],"Euler":[70],"angles,":[71],"at":[73],"least":[74],"12":[75],"buttons":[76],"independent":[78],"control":[79,88,117],"of":[80,87,118,154,158,173,196],"their":[81,236],"DoF.":[82],"Therefore,":[83],"more":[84],"interfaces":[86],"required.In":[90],"this":[91],"paper":[92],"we":[93],"present":[94],"HyperPalm:":[95],"a":[96],"novel":[97],"gesture":[98,127,231],"interface":[99],"intuitive":[101,241],"human-robot":[102,226],"interaction":[103,227,237],"with":[104,129,146,238],"robots.":[106],"Without":[107],"additional":[108],"devices,":[109],"operator":[111],"has":[112],"full":[113],"position":[114,153,157],"orientation":[116],"through":[125,228],"hand":[126,136,160],"recognition":[128],"only":[130],"5":[131,143],"gestures":[132,145],"6":[134],"DoF":[135],"motion.The":[137],"experimental":[138],"results":[139],"revealed":[140],"classify":[142],"static":[144],"high":[147],"accuracy":[148],"(96.5%),":[149],"accurately":[150],"predict":[151],"6D":[156],"three-dimensional":[162],"space.":[163],"The":[164,233],"absolute":[165,192],"deviation":[167,171,194],"Root":[168],"mean":[169],"square":[170],"(RMSD)":[172],"proposed":[175,198,230],"approach":[176,199],"is":[177,181,200,204],"11.7":[178],"mm,":[179],"which":[180,203],"almost":[182,205],"50%":[183],"lower":[184,207],"than":[185,208],"second":[188,211],"tested":[189,212],"approach,":[190],"angular":[193],"RMSD":[195],"2.6":[201],"degrees,":[202],"27%":[206],"approach.":[213],"Moreover,":[214],"user":[216],"study":[217],"was":[218],"conducted":[219],"explore":[221],"user\u2019s":[222],"subjective":[223],"experience":[224],"from":[225],"interface.":[232],"participants":[234],"evaluated":[235],"HyperPalm":[239],"as":[240],"(2.0),":[242],"not":[243],"causing":[244],"frustration":[245],"(2.63),":[246],"low":[249],"physical":[250],"demand":[251],"(2.0).":[252]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
