Development of Novel 3-axis Tactile Sensor Dataglove for Skill Transfer

去年，一种名为Exo-Glove的数据手套是基于已经在IEEE Humanoids 2019上发表的指尖触觉传感器设计的。这款数据手套原型设计用于佩戴在人类手指上。该手套的主要技术包括三个三轴触觉传感器模块，由可变运动框架RCM机构支撑。RCM机制被认为是，它不需要被放置在人的手指的旋转关节。其原理是通过与人的指关节同心旋转，整体设计不加厚，使用者的手指可以自由活动。Exo-Glove关节采用基于霍尔效应的编码器来测量角度。数据手套的整体设计强调用户在不覆盖手指手掌侧的情况下感受物体。Exo-Glove的性能在IEEE IROS 2020国际会议上进行了展示。今年，Exo-Glove的设计将进行改进，特别是尺寸和人体工程学，以延长五个手指。此外，考虑将技能从人类转移到机器人。特别是，我们的实验室还有配备触觉传感器的机器人手。它可用于重建人类在各种任务中施加的关节轨迹和力。

Last year, a data glove called Exo-Glove was designed based on the tactile sensor at the fingertips already published in the IEEE Humanoids 2019. This data glove prototype is designed to be worn on a human finger. The main technology of the glove consists of three 3-axis tactile sensor modules, which are supported by a variable motion frame RCM mechanism. The RCM mechanism was considered so that it did not need to be placed on the rotary joint of the human finger. The principle is that by rotating concentrically with the human knuckles, the overall design is not thickened and the user's fingers can move freely. The Exo-Glove joint incorporates a Hall effect-based encoder for measuring angles. The overall design of the data glove emphasizes the user to feel the object without covering the palm side of the finger. Exo-Glove performance was presented at the IEEE IROS2020 International Conference.This year, Exo-Glove's design will be improved especially the size and ergonomic in order to extend the five fingers. In addition, consider the transfer of skills from humans to robots. In particular, our laboratory also has robot hands equipped with tactile sensors. It can be used to recreate the joint trajectories and forces applied by humans during various tasks.