Wearable Hand Motion Capture Device

This paper reports a new type of wearable motion capture device. Presented motion capture device can detect the motion of fingers of an operator. This device has been equipped with an air cylinder as an actuator which is to be developed for a force sense presentation. We employed a displacement detection sensor for motion capture, since it is a good combination with an air cylinder. The dimensions of the proposed device were 90mm $\times225$ mm $\times80$. We evaluated the performance of the sensor integrated into this device and confirmed the important role of the sensor as a hand motion capture function.

[1]  Wei Xiong,et al.  Design of a new type of pneumatic force feedback data glove , 2011, Proceedings of 2011 International Conference on Fluid Power and Mechatronics.

[2]  S.H. Winter,et al.  Use of Magnetorheological Fluid in a Force Feedback Glove , 2007, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[3]  Naoki Kawakami,et al.  An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[4]  J. Blake,et al.  Haptic Glove With MR Brakes for Virtual Reality , 2009, IEEE/ASME Transactions on Mechatronics.

[5]  S. Konishi,et al.  Slave flexible micro-finger integrated with sensor for master-slave sense presentation system , 2017, 2017 19th International Conference on Solid-State Sensors, Actuators and Microsystems (TRANSDUCERS).

[6]  Junji Furusho,et al.  Development of VR-STEF system with force display glove system , 2005, ICAT '05.

[7]  Takashi Maeno,et al.  Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Mark R. Cutkosky,et al.  Preliminary Tests of an Arm-Grounded Haptic Feedback Device in Telemanipulation , 1998, Dynamic Systems and Control.

[9]  Grigore C. Burdea,et al.  The Rutgers Master II-ND force feedback glove , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[10]  Li Wen,et al.  A two-fingered force feedback glove using soft actuators , 2018, 2018 IEEE Haptics Symposium (HAPTICS).

[11]  Thomas H. Massie,et al.  The PHANToM Haptic Interface: A Device for Probing Virtual Objects , 1994 .

[12]  Haruhisa Kawasaki,et al.  Five-fingered haptic interface robot: HIRO III , 2009, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[13]  Makoto Sato,et al.  Development of string-based multi-finger haptic interface SPIDAR-MF , 2013, 2013 23rd International Conference on Artificial Reality and Telexistence (ICAT).