A Multi-Modal Sensing Glove for Human Manual-Interaction Studies
A Multi-Modal Sensing Glove for Human Manual-Interaction Studies
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DOI：
10.3390/electronics5030042
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发表时间：
2016-09-01
期刊：
影响因子：
2.9
通讯作者：
Tognetti, Alessandro
中科院分区：
文献类型：
--
作者：
Bianchi, Matteo;Haschke, Robert;Tognetti, Alessandro
我们提出了一个集成的传感手套，结合了两个最有远见的可穿戴传感技术，以提供在一个独特的，重量轻，可伸缩的设备的手姿势传感和触觉压力传感。也就是说，手部姿势重建采用针织压阻织物，使我们能够测量弯曲。从这些传感器中的仅五个（每个手指一个），利用最佳传感器放置和估计技术来重建19自由度（DOF）手模型的完整手姿势。为此，我们利用先验信息的协同协调模式在把握任务。触觉传感采用压阻织物，使我们能够测量分布在手套手掌表面的50多个taxels的法向力。我们描述了这两种传感技术，报告的软件集成的两种模式，并描述了初步的评估实验分析手的姿势和力模式在把握。重建的结果是有希望的，并鼓励我们进一步推动我们的方法在神经科学，虚拟现实，机器人和远程操作的潜在应用。
We present an integrated sensing glove that combines two of the most visionary wearable sensing technologies to provide both hand posture sensing and tactile pressure sensing in a unique, lightweight, and stretchable device. Namely, hand posture reconstruction employs Knitted Piezoresistive Fabrics that allows us to measure bending. From only five of these sensors (one for each finger) the full hand pose of a 19 degrees of freedom (DOF) hand model is reconstructed leveraging optimal sensor placement and estimation techniques. To this end, we exploit a-priori information of synergistic coordination patterns in grasping tasks. Tactile sensing employs a piezoresistive fabric allowing us to measure normal forces in more than 50 taxels spread over the palmar surface of the glove. We describe both sensing technologies, report on the software integration of both modalities, and describe a preliminary evaluation experiment analyzing hand postures and force patterns during grasping. Results of the reconstruction are promising and encourage us to push further our approach with potential applications in neuroscience, virtual reality, robotics and tele-operation.