A robotic hand-arm teleoperation system using human arm/hand with a novel data glove

Abstract

Data glove is one of the most commonly used techniques in the robotic teleoperation systems. In this paper, we propose a robotic hand-arm teleoperation system with a novel data glove called YoBu, which can acquire human motions from both the arm and the hand simultaneously. The proposed data glove is designed to be stable, compact and portable. It is composed of eighteen low-cost inertial and magnetic measurement units, among which fifteen units are attached to the human operator's finger joints for robotic hand teleoperation and three units are attached to the palm, upper arm and forearm respectively for robotic arm teleoperation. In the robotic hand-arm teleoperation system, the operating commands generated by the data glove are transmitted to the robot via a Bluetooth wireless communication, which makes the whole robotic teleoperation system simple and user friendly. Finally, several experiments are implemented to verify the efficiency of the proposed robotic teleoperation system. 978-1-4673-9675-2/15/$31.00 © 2015 IEEE

Design and Development ofa Mirror Effect Control Prosthetic Hand with Force Sensing

“…The first part of the system would be the input circuit known as Finger Input. Glove was chosen to collect input data because it can provide a more accurate humanlike motions compared to other input such as joystick and dials [13]. The glove that collect the input data will be called as Mirror Glove.The second part is the output circuitcalled Prosthetic Output.…”

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

“…The application of enhanced sensors such as Inertial measurement Unit has made it possible for other information of the human hand activities such as acceleration, angular velocity, and magnetic field to be measured using the data glove [82], [83]. Fang et al proposed a novel data glove which can capture human arm-hand motions simultaneously [84]. This allows the glove to be fully mapped to a robotic arm-hand system, hence allowing the robot to perform intuitive motions when teleoperated.…”

ZoomTouch: Multi-User Remote Robot Control in Zoom by DNN-based Gesture Recognition

“…Many methods have been proposed on how to arrange this interaction. Some works use gloves with sensors on hand to control the robotic arm or robot with a gripper [Fang et al 2015]. To achieve smooth and safe guiding of a drone formation by a human operator, an impedance control and tactile feedback was proposed in [Tsykunov et al 2019].…”