Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction

Prathamesh Sathe, Alexander Schmitz, Harris Kristanto, Chincheng Hsu, Tito Pradhono Tomo, Sophon Somlor, Sugano Shigeki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Measuring the forces that humans exert with their fingers could have many potential applications, such as skill transfer from human experts to robots or monitoring humans. In this paper we introduce the "Exo-Glove"system, which can measure the joint angles and forces acting on the human finger without covering the skin that is in contact with the manipulated object. In particular, 3-axis sensors measure the deformation of the human skin on the sides of the finger to indirectly measure the 3-axis forces acting on the finger. To provide a frame of reference for the sensors, and to measure the joint angles of the human finger, an exoskeleton with remote center of motion (RCM) joints is used. Experiments showed that with the exoskeleton the quality of the force measurements can be improved.

Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4106-4113
Number of pages8
ISBN (Electronic)9781728162126
DOIs
Publication statusPublished - 2020 Oct 24
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: 2020 Oct 242021 Jan 24

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
CountryUnited States
CityLas Vegas
Period20/10/2421/1/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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