A low-cost sensor glove with vibrotactile feedback and multiple finger joint and hand motion sensing for human-robot interaction
Weber P, Rueckert E, Calandra R, Peters J (2016)
Publication Type: Conference contribution
Publication year: 2016
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 99-104
Conference Proceedings Title: 25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016
Event location: New York, NY
ISBN: 9781509039296
DOI: 10.1109/ROMAN.2016.7745096
Abstract
Sensor gloves are widely adopted input devices for several kinds of human-robot interaction applications. Existing glove concepts differ in features and design, but include limitations concerning the captured finger kinematics, position/orientation sensing, wireless operation, and especially economical issues. This paper presents the DAGLOVE which addresses the mentioned limitations with a low-cost design (ca. 300 €). This new sensor glove allows separate measurements of proximal and distal finger joint motions as well as position/orientation detection with an inertial measurement unit (IMU). Those sensors and tactile feedback induced by coin vibration motors at the fingertips are integrated within a wireless, easy-to-use, and open-source system. The design and implementation of hardware and software as well as proof-of-concept experiments are presented. An experimental evaluation of the sensing capabilities shows that proximal and distal finger motions can be acquired separately and that hand position/orientation can be tracked. Further, teleoperation of the iCub humanoid robot is investigated as an exemplary application to highlight the potential of the extended low-cost glove in human-robot interaction.
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Germany (DE)How to cite
APA:
Weber, P., Rueckert, E., Calandra, R., & Peters, J. (2016). A low-cost sensor glove with vibrotactile feedback and multiple finger joint and hand motion sensing for human-robot interaction. In 25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016 (pp. 99-104). New York, NY, US: Institute of Electrical and Electronics Engineers Inc..
MLA:
Weber, P., et al. "A low-cost sensor glove with vibrotactile feedback and multiple finger joint and hand motion sensing for human-robot interaction." Proceedings of the 25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016, New York, NY Institute of Electrical and Electronics Engineers Inc., 2016. 99-104.
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