SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand

Abstract

For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilizing its capability of handling and manipulating objects and communicating with other humans or machines. The optimal relationship between the number of measurement parameters, measurement accuracy, as well as complexity, usability and cost of the measuring systems is hard to find. Biomechanic assumptions, the concepts of a biomechatronic system and the mechatronic design process, as well as commercially available components, are used to develop a sensorized glove. The proposed wearable introduced in this paper can measure 14 of 15 angular values of a simplified hand model. Additionally, five contact pressure values at the fingertips and inertial data of the whole hand with six degrees of freedom are gathered. Due to the modular design and a hand size examination based on anthropometric parameters, the concept of the wearable is applicable to a large variety of hand sizes and adaptable to different use cases. Validations show a combined root-mean-square error of 0.99° to 2.38° for the measurement of all joint angles on one finger, surpassing the human perception threshold and the current state-of-the-art in science and technology for comparable systems.

Clinical efficacy of the mulligan maneuver for cervicogenic headache: a randomized controlled trial

“…The team used the FingerTps(made in USA) device to measure the pressure exerted by the operator. FingerTps is worn on the operator’s thumb and the information collected about thumb pressure is transmitted in real time to a computer via a wireless transmitter in the finger sleeve, which allows the operator to adjust the force using a display screen 13 . On the day of enrolment, CEH patients underwent the Mulligan Maneuver individually and in person at the tuina department of the Zhejiang Provincial Hospital of Traditional Chinese Medicine.…”