Development of finger-motion capturing device based on optical linear encoder

Abstract

Abstract-This article presents the design and validation of a wearable glove-based multifinger-motion capture device (SmartGlove), specifically focusing on the development of a new optical linear encoder (OLE). The OLE specially designed for this project is compact and lightweight and has low-power consumption. The characterization tests showed that the OLE's digital output has good linearity and is accurate. The first prototype of SmartGlove, which uses 10 OLEs to capture the flexion/extension motion of the 14 finger joints, was constructed based on the multipoint-sensing method. A user study evaluated the SmartGlove using a standard protocol and found high repeatability and reliability in both the gripped and flat-hand positions compared with four other evaluated data gloves using the same protocol.

LOVETT Scaling with Flex Sensor and MYO Armband for Monitoring Finger Muscles Therapy of Post-Stroke People

“…Afterwards used by Simone et al [6]. Gentner and Classen [4] and Li et al [5]. The protocol was divided into four tests termed A, B, C, D (detailed in the following) which requested to place the hand recursively in preset known grip and flat positions, with the glove always kept, otherwise removed and put on again between measurements.…”

Feasibility of teleoperations with multi-fingered robotic hand for safe extravehicular manipulations

“…Previous reports discussed the hand mechanism [21], the vision aspect of guided manipulation [18], the data process and software architecture [13], the dexterity, tactile sensibility, strength and fatigue [8]. However, no or scarce effort has been devoted to the comprehension of the feasibility limits, due to the repeatability and reliability problems in measuring multiple joints of operator's fingers and reproducing them by a robotic hand.…”

“…The glove can be realized by means of optical devices (fiber optics [31], optical linear encoders [13]), acoustic devices (as in the Power Glove by Mattel), inertial devices (accelerometers [5], gyroscopes [29]), magnetic devices [16], electromagnetic devices (Hall effect, see Humanware Srl, Pisa, Italy), electrical devices (single [22] or array flex sensors [23]), etc. Different sensing principles led to different sensory gloves.…”

A user interface for a seven degree of freedom surgical robot

“…The surgeon would not hold on to anything tangible, but the hand and fingers would represent the surgical tool and their position and orientation would be relayed to the surgical robot. An example of such a system was developed by Li et al (2011) at the Nanyang Technological University in Singapore and is shown in Figure 12. Optical linear encoders are placed on different parts of the hand and they sense the movement of different finger joints relative to each other.…”