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CC QCYTKHB j YTG OsPKML(XJKND OsS j GJKNGo]lOsI O)IHOsPCO)B GaYTYED dx^dxxdx |a
CC kUCG^?DHDFBEusPSGJPqKwyIHO)RCYEGJS xd^xdxdxxdxdx^dxxdx |a
CC| O<X:L(YEB Ga@ OsSRCBEPL>KNOsIFBfL)Y { G:L(IHXMU xdxdx^dxxdx |a
CC UCO8O)DHBEPu PBTKNBEL)Y?DHDFBEusPCS%GaPKHD xxdxdx^dxxdx |a
CC kUCG { gL jCj BEPu OsP@CBTKHBEOsP dxdxxdxdx^dxxdx |a
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C | ^GJOsSGvKNIFBEX PKNGJI j IFGJKNL(KNBTOsPO(] { BTPCusYTG OsPKML)XvK { gL jCj BEPu|a
C ^GJOsSGvKNIFBEX PKNGJI j IFGJKNL(KNBTOsPO(] OsPKNL)XJKwL(BEI { ghL jCj BTPCu |
C { QCS%SrL)IZrO(] { ghL jCj BTPCu%hGaUCL`<BTOsI&QCDHBTPCu
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C OsPKML)XvKwL)BEI { gL jj BEPCuhGJUL:`8BTOsIg&BTKHUeKHUCGaI GvKNIFBEXaD| s
C ceBEDFKNL)PCXJGv { p<QCL)IHGJ@?DHDHBTusPCS%GaPK-L)D { OsIKNBTPCu ^dxxdx |
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C kU<QSRL(PC@ PPCGaI-wL(YESeIHBTGaPKML>KNBEO)P}VL(XJKNO)I dxxdx |
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C PCPCGaI-VBTPCusGJIk?PCusYTG^VWL)XJKHOsI xdxxdxdx^dxxdx |:s
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C kU<QSR8VBEPCusGJIFKHB j &O)KML(KHBEOsP}VWL)XvKNOsI dxdx^dxxdx |:)
C OsSRCBTPCBEPCunL(PC@}GJDFKNBTPCunKNUCG^kUqQCSRVWL)XJKHOsIHD xxdx |:
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ELECTRODE
SCANNING
HARDWARE
CALIBRATION AND
PROXIMITY IMAGE
FORMATION
CONTACT
TRACKING AND
IDENTIFICATION
TYPING
RECOGNIZER
FINGER
SYNCHRONIZATION
DETECTOR
HAND MOTION
COMPONENT
EXTRACTION
PENGRIP
DETECTOR
CHORD MOTION
RECOGNIZER
HOST
COMMUNICATION
INTERFACE
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10
15

C|
12
10
Vertical Position on Surface (Y axis cm)
14
15
10
5
0
5
Horizontal Position on Surface (X axis cm)

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~
14
Middle
Fingertip
Index
Fingertip
12
Ring
Fingertip
Pinky
Fingertip
10
6
Proximal Phalanges
Thumb
Forepalms
4
Outer Palm Heel
Inner Palm Heel

6
0
6
8
10
12
14
16
18
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14
12
10
8
6
4
2
0
2
4
6
15
10
5
0
5
10
15
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14
12
10
6
0
6
8
10
12
14
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CURRENT
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CONTACT PATH
TRACKING
NEW PATHS &

UPDATED PATH
PARAMETERS
HAND
IDENTIFICATION
FINGER & PALM

IDENTIFICATION
IDENTIFIED
CONTACT PATHS
HAND POSITION
ESTIMATION
ESTIMATED HAND &

FINGER OFFSETS
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CURRENT
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CURRENT IMAGE
FLATTENED
FINGERTIP
FEEDBACK
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PROXIMITY
IMAGE
ESTIMATED HAND
POSITION OFFSETS
SEARCH FOR
SIGNIFICANT
LOCAL MAXIMA
DEFINE SEGMENTATION
STRICTNESS REGIONS
LOCAL
MAXIMUM
PIXELS
CONSTRUCT ELECTRODE
GROUPS AROUND LOCAL
MAXIMUM PIXELS
COMBINE
OVERLAPPING
GROUPS
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10
Strict Segmentation Region
5
20
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15
10
Right Sloppy
10
15
20
10
15
20
5
0
5
10
c) Horizontal Surface Position (cm)
15
20
a)
Vertical Surface Position (cm)
15
10
5
20
Right Sloppy
Left Sloppy
15
10
b)
15
10
Left Sloppy
0
Right Sloppy
5
20
15
10
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s
START
GET NEXT ELECTRODE IN
DIRECTION OF SEARCH
RAW PIXEL
PROXIMITY >
BACKGROUND
LEVEL ?
MARK
BACKGROUND
LEVEL EDGE AS
GROUP
BOUNDARY
RETURN &
SWITCH
DIRECTION OF
SEARCH
B
N
IN STRICT
SEGMENTATION
REGION?
SEARCHING
HORIZONTAL ?
SEARCHING
HORIZONTAL ?
MARK EDGE
BETWEEN
FINGERTIP AND
THUMB OR PALM
Y
HORIZ.
DIST. TO LOCAL MAX
> 2cm ?
Y
TALL
HORIZONTAL
MINIMUM ?
VERTICAL
MINIMUM ?
HORIZ.
OR DIAGONAL
MINIMUM ?
MARK EDGE
BETWEEN
FINGERS
A
Y
MARK EDGE
BETWEEN PALM
HEELS
B
B
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000
000
66
6666
22 000 111
0000000000
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2222 000 111
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222
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7777
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88888888
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88888888888
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88888888888 77777777777
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5 5 5
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8 8 8 8
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8 8 8 8 8 8
9 9 9 9 9 9 9 9
8 8 8 8 8 8 8
9 9 9 9 9 9 9 9 9 9 9
8 8 8 8 8 8 8 8
9 9 9 9 9 9 9 9 9 9 9
8 8 8 8 8 8 8 8 8 8 8
9 9 9 9 9 9 9 9 9 9 9
8 8 8 8 8 8 8 8 8 8
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Estimated
Offsets
Filter
Pole
Hand
Separation
Enforcer
Updated
Hand & Finger
Position
Estimates
Hands Current
Identification
Confidence
Segmentation
& Identification
Modules
Default
Finger
Positions
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START
DEFINE IDENTITY
ATTRACTORS AT DEFAULT
CONTACT POSITIONS
TRANSLATE ATTRACTOR
TEMPLATE BY ESTIMATED
HAND OFFSET
COMPUTE MATRIX OF
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TO EACH ATTRACTOR
COMPUTE ATTRACTOR
WEIGHTING FACTORS FROM
FEATURES OF EACH PATH
FIND ASSIGNMENT BETWEEN
PATHS AND ATTRACTORS
WHICH MINIMIZES SUM OF
WEIGHTED DISTANCES
HAND
ASSIGNMENTS
TENTATIVE ?
# FINGER
ATTRACTORS
ASSIGNED > 1
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VERIFY THUMB
ASSIGNMENT
UPDATE FINGER
COUNTS AND
SUBSETS
END
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=S"F$'680d%^#9 dF;S47d%$?c.'47~r0;S.'0d%;2.'0*='$'680*=51=20*9 "%4r$'0*&=20!15;247$'647$;2.'0*4r=
&'0y^"%a'~r;ACd%124r;247d8$B1*+|d%;S0:;S."F;;S.'0A'"%~79:1#?0*=50"%~7~rdt?0*&;Sd~r4r^Z;#;d 6;2.'0
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A"%~r9 1=20!9"F47$'0!&d8$};2.'0@12aB=5^"%b!0/"F;>"F~7~Hd%;S.B0*=`;2479:0*1*+f0!b]"%a'150@;S.'09 4r&'&'~70
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&'4r15;247$'68aB4712.B47$'6680!d89 0y;S=547b(^M0]";Sa'=50*1*Dn?0!4768.;247$'6^Ma'$'by;S47d%$'1"F=20b*d89:A'aB;20*&^Md%=c;2.'0#;2.Ha'9}
"%$B&A"%~r9.'0*0!~";2;S=2"%b!;2d8=21!Dz"%$'&&'4r15;S"%$'b*0!1;2d$B680*= ;S47A"F;2;2=S"%by;Sd8=51"F=20|a'$'bV."%$B680*&E+"%bV.
?0*4r68.;S47$B6(^Ma'$'b!;247d8$4r1`;S.B0/A'=2dz&'a'by;>d%^n120y80*=2"%~^"%b!;2d8=`%0*=215a'1>^M0]"F;2a'=20/=50*~7"F;S4rd8$'12.B47A'1!+`"%bV.
?0*4r68.;S47$B6(^"%b!;2d8=471`&'0*154768$'0!&;Sd(;V"FG%0cd8$"(&'0y^"%a'~r;`%"F~7a'0@dF^fq/?c.'0!$4r;S1f^M0]"F;2a'=20/9:0]"%15a'=20N3
9:0*$;A'=2dz47&'0!1$'d&'471 ;S47$B68a'4715.'47$B6:4r$B^Md8=59"F;247d8$DB;V"%GF0d8$~"%=5680*=/F"%~ra'0*1|4r^;2.'09 0*"%12a'=50*&
b!d8$;V"%by;^M0*"F;SaB=20a'$'4rzaB0*~r(=20*150*9}B~70*1U;2.'0684r%0*$;S.Ha'9}d8=UA"%~r9.'0!0*~DF"F$'&;S"%G%0d8$129 "%~r~70*=
F"%~ra'0*14r^`;2.'09:0]"F12a'=50*&^M0*"F;Sa'=504r14r$'b*d8$B12471 ;S0!$H;?c4r;2.;S.'0#684r%0*$";2;S=2"%b!;2d8=
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;2.'0/~"%=5680*=f;S.'0c"F;5;S=2"%b!;2d8=
1d8=2d%$'d84'b!0*~7~z?c47~r~'"%A'An0]"F=;Sd(;S.B0|b!d8$;V"%by;]DH"%$B&:;2.'0/9 d%=20@~r47G%0!~r
;2.'0b*d8$;V"Fb!;c?c47~r~C^"%~r~?c4r;2.'47$;2."F;|b*0!~7~U"%$B&n0"%12154768$B0*&;Sd:4r;S1c";2;S=2"%b!;2d8=*+
47$'b!00*"%bV.-b*d%$H;S"%b!;b]"%$."]80("#&'46C0*=50*$;^M0*"F;SaB=20?0*4r68.;S4r$'6#^Md8=9 "F;SbV.'4r$'6;Sd;2.'0
12"%9 0";2;S=2"%b!;2d8=*D0]"%bV.b*d8$;S"%b!;b*"%$0*$'b!d8a'$;S0!="&'4^60!=20!$H;2~r?@"%=5AC0!&d%=2d8$'d%4`&'47"%68=S"F9+
d8=0NB"%9 AB~70%D"x12apo:b!470*$;2~r~7"%=26%0;S.Ha'9}?0*4r68.;S47$B6^Md%=-"xb*d8$;V"Fb!;b*d%a'~7&9 "%G%0;2.'0
;2.zaB9}"F;5;S=S"Fb!;Sd%=15dACd?0*= ^Ma'~;2."F;;S.'0d8=2d8$Bd84<&'4"%6%=S"%90!$'b*d%a'$;S0*=50*&;S.'0#b*d8$;V"Fb!;
b!d8a'~7&b!d8$;V"%4r$d%$'~rd8$'0}d8=5d8$'d84b!0*~r~DU";S.Ha'9d8=5d8$'d84`b*0*~r~b*d%0*=24r$'6;S.'0?c.'d8~r012a'=3
^"%b!0%+vw$"Fb!;Sa'"%~74_;w8DF;2.Ha'9}b*d8$;S"%b!;>^M0*"F;Sa'=50*1"%=50@$'0y80*=>aB$"%9}'4r68a'd8aB10*$'d%a'68.;Sd?"%=5=S"%$;
?0*4r68.;S47$B681@;S.'4r1c~"%=5680%+
,/.'0?0*476%.H;247$'6|^Ma'$'by;S47d%$'1`?0*=20@"%=2=54r80!&"F;`H;S=54"%~z"%$B&0*=2=5d8=*+47$Bb*00*"%bV.}?0*476%.H; 3
4r$'6^Ma'$'by;S4rd8$b]"%$9:d80@;2.'0/Cd%a'$'&"%=5470!1d%^d8$'0@d%=2d8$'d%4Bb*0!~7~DF;S.B0/0yAC0!=24r9 0!$H;20*=`;wzA'4rb]"%~r~r
&'0!b*4r&'0*1^M=2d89
$'680!= 9:d%;S4rd8$=S"%$B680*1?c.'0!=200*"%bV.nd8a'$B&"%=515.'d8a'~r&n0%+,/.'0b!a'=2=50*$;
nd8a'$'&'"%=5And8124_;S4rd8$'1\b]"F$n0:&B0!;S0!=29:47$'0!&=20!AC0*"F;S0!&'~r~r4r^Z;247$'6-"F$'&;2d8a'bV.'4r$'6"$'680!=
d80!=\&'46C0*=50*$;\15ACd%;21\a'$;S4r~"15a'=5^"%b!0ACd%124r;247d8$471^Md%a'$'&?c.'0!=20}$'6%0*=\47&B0*$;S4_;wn0*b!d89:0*1
a'$B15;V"F'~70FD<"%~r;20*=2$'"F;S4r$'6n0!;w?0*0!$;w?dd%=2d8$'d%4`b*0!~7~r10]"FbV.;2479:0#;S.B0}$'680!=;Sd8aBbV.'0*1!+},/.'0
qts8
0NBAn0*=5479:0*$;S0!=;2.'0*$-"F&5a'15;21;S.B0("%9:A'~74_;Sa'&B0/d%Û;S.'0|?0!4768.;247$'6^Ma'$'b!;247d8$ a'$;S4r~;2.'0nd8a'$B&3
"%= 9:d80*1\;2d;2.'0&'0*1547=50*&~7dzb]"F;247d8$+}@"%=509}a'15;n0};V"FG%0*$;Sd"F~"%$'b!0};S.'0};2.Ha'9}"%$'&
A"F~79?0!4768.;247$'681d8=;S.B0(Cd%a'$'&"%= n0!;w?0*0!$);2.zaB9}"%$'&-4r$'$'0*=A"%~79
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9
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Right Orientation Factor
`4768aB=20 p +_qts15.'d?c1);2.'0=24r68.;;S.Ha'9}"%$B& =54768.;-4r$'$'0*=A"%~79
1
0
0
Mnt
20
40
60
80
100
120
Contact Orientation (degrees)
140
160
180
<<C |4r68.;;S.Ha'9"%$B&4r$'$'0!=-A"%~79 .'0!0*~\d8=5470*$;S"F;S4rd8$^"%b!;2d8=*DPX'WTYR[J!O~CD

80!=215a'1d%=2470!$;V"F;247d8$-d%^;S.B0b!d8$;V"%by;e
1|B;2;S0!&0!~7~r47A'150%D'PX n+
^"%by;Sd8=f80*=512a'1d8=5470*$;S"F;S4rd8$}d%^C"(b*d%$H;S"%b!;
1>';5;S0!&:0!~7~r47A'150%+>(=5470*$;S"F;S4rd8$}d%^;S.B0*120c."F$'&A"%=5;21
;20*$'&'1c;Sd:n0"%nd8aB;q%Q*D'?c.'0!=20*"%1$B680*= ;S47A"%$'&)d8aB;20*=|A"%~r9
.'0!0*~<b*d8$;S"%b!;21"%=50#aB12a"%~r~r
%0*=5b!~7d8150:;2d)%0*=5;247b*"%~ o 8Q2uyD"F$'&d8=5470!$H;S"F;S4rd8$d%^;2.'0:~70!^Z;;2.zaB9}{"%$B&~70y^Z;47$'$'0!=#A'"%~79
.'0!0*~<"]80!=S"%6%0*1 Q*+,/.'0=24r68.;cd8=24r0*$;V";S47d%$^"%b!;2d8=@;S.B0*=20y^Md8=20"%ABA'=2d"FbV.'0*1"9"4r9}a'9"F;
qtFQ*+@vY;"%A'A'=5d"%bV.'0!1;2.'0#&B0!^"%a'~_;c%"F~7a'0d%^/q#"F;Q]Dn8Q!DC"F$'&q%Qc?c.B0*=20#d8=24r0*$;V";S47d%$)4r1
4r$'b*d8$Bb*~7aB124r%0d%^47&'0!$H;24r;w%Df"F$'&=20]"FbV.'0*1#")9:47$B479}a'9
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.'0!0*~+`,/.'0b!d8=2=50*15ACd8$B&'47$'6#=20!~"F;247d8$'15.'47A}^Md%=;2.'0c~70y^Z;;2.Ha'9}
"%$B&4r$'$'0*=/A'"%~79.'0*0!~Ud8=24r0*$;V"F;247d8$^"Fb!;Sd%=/4714rA'AC0!&"FCd8a;|8Q*+
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Thumb Size Factor
`4768aB=20 p +rq]"%A'A'=5d]B4r9";S0*~_A'~7dF;S1;2.'0;2.zaB9}124r*0^"%by;Sd8=!+\4r$'b*0#;S.Ha'9}1547*0}"%1
1
0
0
2
3
4
Contact Size (Normalized Total Proximity)
Mnt<")E3 H
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1>;Sd%;S"%~BAB=2d]479:4r;w8D
P t~C
X
4r$<'47b*"F;h,Hx;2d%;V"F~/A'=2d]479:4r;w;h*$p'1:;2dAR]"FG"F;;w?dd8=;h'=z-;S4r9|,;<i24r)d%^;<
;wzA'4rb]"%~/b!a'=2~$'6!=5;S4rAED;<-;hHa'9}24r-^"%b!;2d8=A*"%G";:;<z547,?$'~r47G)A'"%~79
*~ *Df;Ha'9}{b!d8$;V"%by;hb*"%$'$'dF;}R 9}aBbl{~"%=56*=\;"%$;w?dd8=;h'=z:;S479P\;<3<y^"%a'~_;
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A"F=5;:b]"%$"%A'AR]"%=P29 "%~r~?<*$;Sd8aBbl'47$'6;h<T2aB=5^"%b,);*=5~r476;S~_{d8=5a< ;3 ;V"%= ;S4r$'6;Sd
;2d8a'bl<'d?c$EDR29 "%~r~24r4c$'d%;'45;247$'68aB4B47$'6'D*2d;h<X547^"%by;Sd8=J<y^"%a'~_;h/;Sd)q^Md%=@*=
59"%~r~b!d8$;V"%by;h
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Palm Heel Size Factor
`4768aB= p _ q:"%A'A'=5d]B4r9";h*~_AB~7d%;@;h<A"%~r9<,*~24r\^"%by;Sd8=,=c9 d8=z\A'=,5a'=
1
0
0
2
3
4
Total Proximity Divided by Eccentricity
Mnt:">E f"%~79x<!~Rz7,c^"Fb!;Sd%=*DHPX8LNI QR J!=2ap;hp|=2"F;hrd\d%^"b!d8$;V"%by;e

;2d%;V"F~
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"%A'AB~,#;2d(;h<@A'"%~79P*D;h<@A'"%~79<,*~'b!d8$;V"%by;hb*"%$(8=5dt?Ha<_;h@~7"%=FD%=z*9 ";7$<r$<c^";7=5~r
=5d8a'$<x";h<yBdN2d<
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$p*=z^M=2d89"]"7$p"~"F=A"%~79
dA'=y!$H;"F;5;h!$<
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qts8
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%]n
$'d%;<*=79:ACd%=5;V"F$H;ip5;7$<%a<z<7$<x^*"F;Sa'=zd%^;h<A"%~79
"%$'"F;Sd89#G;,*A<};< b,*$;S=5dpd%^;h<,7=b*d8$;V"Fb!;h!A"%=S";h^M=2d89
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b*d8$;V"Fb!;]!A"%=2"F;hrd8$xb]"%$xR-9P]";5a'=,?_;h'd%aB;GH$'d?7$<b!d8$;V"%by;]<!$H;r;#
]"%=5bl<7$<"%~7~b*d8$;V"Fb!;hc^Md8=/;hp#$<*"%=,5;$<HCd%=|b!d8$;V"%by;dF^>"]r;*$b!d8$;V"%by;("F$<9P]"
5a'=r$<:;<p5;S"%$'b,;2d:;"F;$<HCd8=,=A'~rd%;2;"%A'A'=5d*r9"F;*~_$7$B8a'= p %BD;<
Palm Separation Factor
0
0
2
3
4
5
6
Distance to Nearest Neighbor Contact (cm)
Mnt<rCU f"%~79<!~dz*A"F=S"F;7d8$^"%by;Sd8=!DPX8LNI QJrLH~CU!=5a<|;<>a'b*~<*"%$i<&

;V"F$'bR!;w?u*$b*d8$;S"%b!;P'"F$<ir;h/$p]"%=z5;$<,Hnd8=/b*d8$;S"%b!;
qts
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_; @$<*"%=,5;c$<,Hnd8=^"F~7~!~7d?"^!? b!$;h79P!;*=z*D<r$<<7b*"F;hr$<#;"F;@;<a_!$-b*d8$;V"Fb!;
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START
CONTACT
PROXIMITIES
STABILIZED ?
RETAIN PREVIOUS
IDENTIFICATIONS VIA
PATH EXTENSION
N
END
DEFINE & TRANSLATE LEFT &

RIGHT ATTRACTOR TEMPLATES
PICK FIRST
CONTOUR
GENERATE PARTITIONING
CONTOURS
TENTATIVELY DIVIDE HAND

IDENTITIES ACROSS CONTOUR
TENTATIVELY ASSIGN FINGER

IDENTITIES WITHIN EACH HAND
EVALUATE BIOMECHANICAL
COHERENCE OF PARTITION
PICK NEXT
CONTOUR
N
LAST
CONTOUR
?
COST
LOWEST SO FAR
?
RECORD PARTITION
AS LOWEST COST
Y
CHOOSE
LOWEST
COST HAND
PARTITION
ASSIGN FINAL
CONTACT IDENTITIES
WITHIN EACH HAND
END
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12
10
8
6
4
2
0
2
20
Left
Partition
15
Right
Partition
10
0
a)
10
15
20
10
15
20
5
0
5
10
c) Horizontal Surface Position (cm)
15
20
12
10
8
6
4
2
Left
Partition
0
2
20
15
10
Right
Partition
0
b)
12
10
8
6
4
2
Left
Partition
0
2
20
15
10
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1
0
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40
30
20
10
0
10
20
30
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50
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0
12
10
8
6
4
2
0
2
Vertical Position of Outermost Finger Relative to Next Outermost (cm)
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Palm Cohesion Factor
0
0
4
6
8
10
12
14
16
Horizontal Separation Between Palm Contacts (cm)
18
20
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InterHand Separation Factor
0
6
2
0
2
4
6
8
Estimated Horizontal Separation Between Thumbs (cm)
10
12
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10
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15
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10
5
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10
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20
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GET CURRENT AND PREVIOUS
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DECREASE TRANSLATION
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COMPONENT SPEEDS
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COMPUTE TRANSLATION
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Horiz. Trans. Velocity (m/s)

Vert. Trans. Velocity (m/s)
Rotation Velocity (m/s)
Scaling Velocity (m/s)
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Time (ms)
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State ST

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State F

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1 Finger
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State M
Some Liftoffs
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State SC

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