DL-Net: Sparsity Prior Learning for Grasp Pattern Recognition

Abstract

The purpose of grasp pattern recognition is to determine the grasp type for an object to be grasped, which can be applied to prosthetic hand control and ease the burden of amputees. To enhance the performance of grasp pattern recognition, we propose a network DL-Net inspired by dictionary learning. Our method includes two parts: 1) forward propagation for sparsity representation learning and 2) backward propagation for dictionary learning, which utilizes the sparsity prior effectively and learns a discriminative dictionary with stronger expressive ability from a mass of training data. The experiment was performed on two household object datasets, the RGB-D Object dataset, and the Hit-GPRec dataset. The experimental results illustrate that the DL-Net performs better than traditional deep learning methods in grasp pattern recognition.