Hand-Object Contact Detection using Grasp Quality Metrics

Thanh Vinh Nguyen; Akansel Cosgun

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arXiv · 2501.06987

Hand-Object Contact Detection using Grasp Quality Metrics

Thanh Vinh Nguyen·Akansel Cosgun

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Abstract

We propose a novel hand-object contact detection system based on grasp quality metrics extracted from object and hand poses, and evaluated its performance using the DexYCB dataset. Our evaluation demonstrated the system's high accuracy (approaching 90%). Future work will focus on a real-time implementation using vision-based estimation, and integrating it to a robot-to-human handover system.

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Thanh Vinh Nguyen, Akansel Cosgun. 2025-01-29. Hand-Object Contact Detection using Grasp Quality Metrics. https://arxiv.org/abs/2501.06987

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