Figure 6.

Marker-less detection of fine hand/finger movements in 3D. (A) Representative images from the stereo camera system, focusing more on the hand movements, with detection of the joint poses in 2D images. (B) Representative 3D models of both hands and forearms while the subject is doing alternating supination/pronation movements. (C) 3D views from different angles of the same hand positions as in panels (A,B). (D) Supination angles (rotation angles of the forearm) of both right and left hands during nine repetitive movements. (E) Hierarchical clustering based on the Euclidean distance between the supination angle curves of each rotation (supination and pronation) after these curves were aligned by dynamic time warping. Please note distinct clustering of right and left hand rotations as well as the heterogeneity among rotations within each hand.