Extended Data Figure 10: Hand pose signals from articulated hands.
From: Learning the signatures of the human grasp using a scalable tactile glove
a, Images of the hand poses used in the hand pose dataset. The poses G1 to G7 are extracted from a recent grasp taxonomy. In the recordings, each pose is continuously articulated from the neutral empty hand pose. b, When the tactile data from this dataset is clustered using t-SNE, each distinct group represents a hand pose. Sample tactile maps are shown on the right. The corresponding samples are marked in red (see Supplementary Data 3). c, The hand pose signals can be classified with 89.4% accuracy (average of ten runs with 3,080 training frames and 1,256 distinct test frames) using the same CNN architecture shown in Fig. 2a. The confusion matrix elements denote how often each hand pose (column) is classified as one of the possible hand poses (rows). It shows that hand poses G1 and G6 are sometimes misidentified but the other hand poses are identified nearly perfectly.
