Real-time hand tracking for rehabilitation and character animation

Hand and finger tracking has a major importance in healthcare, for rehabilitation of hand function required due to a neurological disorder, and in virtual environment applications, like characters animation for on-line games or movies. Current solutions consist mostly of motion tracking gloves with embedded resistive bend sensors that most often suffer from signal drift, sensor saturation, sensor displacement and complex calibration procedures. More advanced solutions provide better tracking stability, but at the expense of a higher cost. The proposed solution aims to provide the required precision, stability and feasibility through the combination of eleven inertial measurements units (IMUs). Each unit captures the spatial orientation of the attached body. To fully capture the hand movement, each finger encompasses two units (at the proximal and distal phalanges), plus one unit at the back of the hand. The proposed glove was validated in two distinct steps: a) evaluation of the sensors’ accuracy and stability over time; b) evaluation of the bending trajectories during usual finger flexion tasks based on the intra-class correlation coefficient (ICC). Results revealed that the glove was sensitive mainly to magnetic field distortions and sensors tuning. The inclusion of a hard and soft iron correction algorithm and accelerometer and gyro drift and temperature compensation methods provided increased stability and precision. Finger trajectories evaluation yielded high ICC values with an overall reliability within application’s satisfying limits. The developed low cost system provides a straightforward calibration and usability, qualifying the device for hand and finger tracking in healthcare and animation industries.

VIP’S+CAPACIDADE CONTRIBUTIVA=PENSÕES CORTADAS?

Enquanto isso, sucessivos governos desprezam a capacidade contributiva. Os impostos aumentam em desprezo dessa capacidade, pois é preciso ter rendimento e capital e na medida destes ou do seu uso. Capacidade contributiva é uma coisa. Capacidade tributária, outra. A capacidade contributiva tem em consideração que o imposto é um (suposto) dever de solidariedade. O Estado deve ter condições para intervir no domínio económico e social. Embora a gestão honesta dos dinheiros públicos seja sempre uma questão a jusante da cobrança de impostos. O imposto deve ser progressivo sobre o rendimento. § Meanwhile, successive governments despise ability to pay. Taxes increase in contempt of this capability, it is necessary to have income and capital and to the extent these or your use. Ability to pay is one thing. Tax capacity, other. The fiscal capacity takes into account that the tax is a (supposed) duty of solidarity. The state should be able to intervene in the economic and social field. Although the honest management of public money is always an issue downstream of tax collection. The tax must be progressive on income.