It has been a while since I have posted any progress on Project PAALM. However, I have been working on numerous aspects the framework and a demonstration video.
In my last update, I described having uncovered a way to map end-effector positions for the index finger. Since then, I have implemented mapping for all fingers and the thumb, and integrated Autodesk Maya's Inverse Kinematics (IK) Handle tool to solve for optimal joint angles. Originally, I was using my own implementation of Cyclic Coordinate Descent but the approach was resulting in delayed visual feedback while passing the data through the web socket. The IK Handle tool is optimized and can solve for joint angles almost instantaneously from within Maya.
Previously, the framework would disregard any translation of the palm resulting in only animated finger movements. I recently updated the framework to include palm tracking so that hand animations respect the input provided by a user.
On Saturday, September 21, 2013, I had the pleasure of presenting my research at the University of Maryland, Baltimore County, 21st Annual McNair Research Conference. The feedback I received was astounding and is pushing me to delve deeper into my endeavor.
|From Left to Right: Dr. Robert Lane (Director of the Pre-Doctoral Initiative at the University of Pennsylvania), two other UPenn presenters, and myself on the right|