Hand-Object Contact Detection using Grasp Quality Metrics

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.

arXiv commentSubmitted to the 2025 IEEE/ACM International Conference on Human-Robot Interaction (HRI'25)