Design and Implementation of an Instrumented Data Glove that measures Kinematics and Dynamics of Human Hand

2021 ◽  
Author(s):  
Martin Burns ◽  
Rachel Rosa ◽  
Zamin Akmal ◽  
Joseph Conway ◽  
Dingyi Pei ◽  
...  
Keyword(s):  
Kinematics And Dynamics ◽  
Human Hand ◽  
Data Glove ◽  
Design And Implementation

scholarly journals Implementation of Gesture Control Robotic Arm for Automation of Industrial Application

2020 ◽  
pp. 147-156
Author(s):  
Shriya A. Hande ◽  
Nitin R. Chopde
Keyword(s):  
System Design ◽  
The Other ◽  
Robotic Arm ◽  
Human Hand ◽  
Design And Implementation ◽  
Gesture Control ◽  
Rf Signals ◽  
Pick And Place ◽  
Almost All ◽  
Minimal Effort

<p>In today’s world, in almost all sectors, most of the work is done by robots or robotic arm having different number of degree of freedoms (DOF’s) as per the requirement. This project deals with the Design and Implementation of a “Wireless Gesture Controlled Robotic Arm with Vision”. The system design is divided into 3 parts namely: Accelerometer Part, Robotic Arm and Platform. It is fundamentally an Accelerometer based framework which controls a Robotic Arm remotely utilizing a, little and minimal effort, 3-pivot (DOF's) accelerometer by means of RF signals. The Robotic Arm is mounted over a versatile stage which is likewise controlled remotely by another accelerometer. One accelerometer is mounted/joined on the human hand, catching its conduct (motions and stances) and hence the mechanical arm moves in like manner and the other accelerometer is mounted on any of the leg of the client/administrator, catching its motions and stances and in this way the stage moves as needs be. In a nutshell, the robotic arm and platform is synchronised with the gestures and postures of the hand and leg of the user / operator, respectively. The different motions performed by robotic arm are: PICK and PLACE / DROP, RAISING and LOWERING the objects. Also, the motions performed by the platform are: FORWARD, BACKWARD, RIGHT and LEFT.</p>

An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration

2014 ◽  
Vol 136 (9) ◽  
Author(s):  
Lei Cui ◽  
Ugo Cupcic ◽  
Jian S. Dai
Keyword(s):  
Input Device ◽  
Human Hand ◽  
Optimization Approach ◽  
Robotic Hand ◽  
Kinematic Structure ◽  
Robotic Hands ◽  
Data Glove ◽  
Minimax Algorithms ◽  
Kinematic Mapping ◽  
And Control

The complex kinematic structure of a human thumb makes it difficult to capture and control the thumb motions. A further complication is that mapping the fingertip position alone leads to inadequate grasping postures for current robotic hands, many of which are equipped with tactile sensors on the volar side of the fingers. This paper aimed to use a data glove as the input device to teleoperate the thumb of a humanoid robotic hand. An experiment protocol was developed with only minimum hardware involved to compensate for the differences in kinematic structures between a robotic hand and a human hand. A nonlinear constrained-optimization formulation was proposed to map and calibrate the motion of a human thumb to that of a robotic thumb by minimizing the maximum errors (minimax algorithms) of fingertip position while subject to the constraint of the normals of the surfaces of the thumb and the index fingertips within a friction cone. The proposed approach could be extended to other teleoperation applications, where the master and slave devices differ in kinematic structure.

scholarly journals Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3539
Author(s):  
Xu Yong ◽  
Xiaobei Jing ◽  
Xinyu Wu ◽  
Yinlai Jiang ◽  
Hiroshi Yokoi
Keyword(s):  
Human Hand ◽  
Prosthetic Hand ◽  
Prosthetic Hands ◽  
Design And Implementation ◽  
Carpometacarpal Joints

Although arch motions of the palm substantially contribute to frequent hand grasping, they are usually neglected in the development of prosthetic hands which focuses on digit movements. We designed the arch function for its implementation on an adaptive multi-finger prosthetic hand. The digits from the developed hand can perform adaptive grasping, and two carpometacarpal joints enable the palm of the prosthetic hand to form an arch with the thumb. Moreover, the arch posture can be passively released, mimicking the human hand switching between sphere and medium wrap grasps according to the situation. Other requirements such as weight, cost, and size limitations for hand prostheses were also considered. As a result, we only used three actuators fully embedded in the palm through a novel tendon-driven transmission. Although the prosthetic hand is almost the same size of an adult hand, it weighs only 146 g and can perform 70% of the 10 most frequent grasps.

Development of a Tilt Sensor Data Glove to Wirelessly Control a Multi-Fingered Robotic Hand

2012 ◽  
Author(s):  
Hamzah N. Laimon
Keyword(s):  
Sensor Data ◽  
Human Hand ◽  
Robotic Hand ◽  
Data Glove ◽  
Input Devices ◽  
Wireless Control ◽  
Language Interpretation ◽  
Tilt Sensor ◽  
Cost Efficient ◽  
Axial Tilt

Electronic gloves are one of the most common methods used as human hand input devices. They proved to be useful in various applications such virtual reality, sign language interpretation and robotic systems. However, many of these electronic gloves tend to be either economically or computationally expensive. In contrast, this article discusses the development of a data glove that is practical and cost efficient with wireless control capabilities. It is based on placing tri-axial tilt accelerometers on the glove to map the movement of human fingers. All data acquired from the glove is transmitted wirelessly via Bluetooth connection to a computer where it can be used for various applications. The glove was used to control a five-motor tendon driven robotic hand. Tests were carried out to correlate tilt angles acquired from the glove with the appropriate motor values that will move the robotic fingers to the same position as that of the glove fingers. As a result, the robotic hand was able to mimic each human hand finger and thereby perform sign and grasp movements.

Research on the Simulation Technology of Virtual Hand Interventional Manipulation in the Virtual Environment

2014 ◽  
Vol 665 ◽  
pp. 698-705
Author(s):  
Ning Chen ◽  
Wen Wen Li ◽  
Lei Xin Nie ◽  
Wei Liu ◽  
Zhi Min Wang
Keyword(s):  
Interactive Effect ◽  
Original Data ◽  
Calibration Method ◽  
Input Device ◽  
Human Hand ◽  
Vector Method ◽  
Data Glove ◽  
Virtual Scene ◽  
Virtual Hand ◽  
Movement Characteristics

In order to improve the authenticity of human-computer interaction in the virtual scene, the data glove is used. Aimed at this sensor input device for the characteristic of multiple-joints, the collection and calibration method of original data are discussed. By analyzing the movement characteristics of human hand, mapping from human hand to virtual hand is accomplished. By embedding OSG in MFC, with the intersect vector method and map projection method, invoking the 3D ship engine room and interactive effect of people roaming in the scene are reached. And at last, by using the data glove, the interventional manipulation of virtual objects in the virtual scene is implemented.

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