ATHENA: Automatically Tracking Hands Expertly with No Annotations
Bibliographic record
Abstract
Abstract Studying naturalistic hand behaviours is challenging due to the limitations of conventional marker-based motion capture, which can be costly, time-consuming, and encumber participants. While markerless pose estimation exists – an accurate, off-the-shelf solution validated for hand-object manipulation is needed. We present ATHENA (Automatically Tracking Hands Expertly with No Annotations), an open-source, Python-based toolbox for 3D markerless hand tracking. To validate ATHENA, we concurrently recorded hand kinematics using ATHENA and an industry-standard optoelectronic marker-based system (OptiTrack). Participants performed unimanual, bimanual, and naturalistic object manipulation and we compared common kinematic variables like grip aperture, wrist velocity, index metacarpophalangeal flexion, and bimanual span. Our results demonstrated high spatiotemporal agreement between ATHENA and OptiTrack. This was evidenced by extremely high matches (R 2 > 0.90 across the majority of tasks) and low root mean square differences (< 1 cm for grip aperture, < 4 cm/s for wrist velocity, and < 5-10° for index metacarpophalangeal flexion). ATHENA reliably preserved trial-to-trial variability in kinematics, offering identical scientific conclusions to marker-based approaches, but with significantly reduced financial and time costs and no participant encumbrance. In conclusion, ATHENA is an accurate, automated, and easy-to-use platform for 3D markerless hand tracking that enables more ecologically valid motor control and learning studies of naturalistic hand behaviours, enhancing our understanding of human dexterity.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.004 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.003 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.009 | 0.004 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".