A low-cost sensor glove with vibrotactile feedback and multiple finger joint and hand motion sensing for human-robot interaction
Publikation: Beitrag in Buch/Konferenzbericht/Sammelband/Gutachten › Beitrag in Konferenzband › Beigetragen › Begutachtung
Beitragende
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.
Details
Originalsprache | Englisch |
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Titel | 25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016 |
Herausgeber (Verlag) | Institute of Electrical and Electronics Engineers Inc. |
Seiten | 99-104 |
Seitenumfang | 6 |
ISBN (elektronisch) | 9781509039296 |
Publikationsstatus | Veröffentlicht - 15 Nov. 2016 |
Peer-Review-Status | Ja |
Extern publiziert | Ja |
Publikationsreihe
Reihe | 25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016 |
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Konferenz
Titel | 25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016 |
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Dauer | 26 - 31 August 2016 |
Stadt | New York |
Land | USA/Vereinigte Staaten |
Externe IDs
ORCID | /0000-0001-9430-8433/work/158768049 |
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