Design and Development of ExoGlove for Obtaining Human Hand Data

Prathamesh Sathe; Alexander Schmitz; Satoshi Funabashi; Tito Pradhono Tomo; Sophon Somlor; Sugano Shigeki

doi:10.1109/ROBIO58561.2023.10354582

Design and Development of ExoGlove for Obtaining Human Hand Data

Prathamesh Sathe^*
, Alexander Schmitz
, Satoshi Funabashi
, Tito Pradhono Tomo
, Sophon Somlor
, Sugano Shigeki

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Skill transfer from a human hand to a robot hand is extremely challenging. Currently, researchers typically use mapping of human hand postures onto the robot hand with the help of a data glove. This approach to skill transfer has yielded impressive results for grasping applications, but is difficult to implement for fine manipulation tasks. Humans use their sense of touch to handle various objects to perform fine manipulation tasks such as stitching, calligraphy, carving, and painting. Consequently, it is also important to measure the tactile data exerted by the human hand on the object while performing fine manipulation tasks. Previously we presented FingerTac - a wearable tactile sensor that can be worn interchangeably on human hands as well as on robot hands. FingerTac is capable of measuring 3-axis tactile data distributed at 20 sensing points around the user's fingertip. In this paper we present ExoGlove (see Fig. 1), which is a combination of a mechanical exoskeleton and FingerTac. The mechanical joints of the ExoGlove are embedded with magnetic encoders which allow precise monitoring of joint angles between the human hand finger segments. As the ExoGlove is integrated with the FingerTac it allows roboticists to not only map the posture of the human hand to the robot hand but to also map the tactile data from the human hand while performing fine manipulation tasks. The sensor is able to measure angles with a mean absolute error of 2.76 degrees.

Original language	English
Title of host publication	2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023
Editors	Mehmet Dogar, Bin Fang, Dimitrios Kanoulas, Jia Pan, Alessandra Sciutti, Moju Zhao, Guanjun Bao, Bimbo Joao, Boyle Jordan Hylke, He Chen, Chen Teng, Yunduan Cui, Dagnino Giulio, Wenbo Ding, Liang Du, Farinha Andre, Yuan Gao, Hasegawa Shun, Liang He, Taogang Hou, Zhe Hu, Zhong Huang, Jackson-Mills George, Yunfeng Ji, Jirak Doreen, Feng Ju, Kaddouh Bilal, Kim Wansoo, Takuya Kiyokawa, Haiyuan Li, Peng Li, Shihao Li, Xu Li, Jianfeng Liao, Ling Jie, Chunfang Liu, Quanquan Liu, Liang Lu, Qiuyue Luo, Yudong Luo, Zebing Mao, Martinez-Hernandez Uriel, Matsuno Takahiro, Nguyen Thanh Luan, Nishio Takuzumi, Pasquali Dario, Pierella Camilla, Chao Ren, Ricci Serena, Rossini Luca, Shi Fan, Summa Susanna, Rongchuan Sun, Zhenglong Sun, Vannucci Fabio, Gang Wang, Wei Wang, Xin Wang, Yuquan Wang, Ziya Wang, Qingxiang Wu, Xiaojun Wu, Yuxin Sun, Youcan Yan, Lei Yang, Yanokura Iori, Jingfan Zhang, Shuai Zhang, Tianwei Zhang, Jinglei Zhao, Na Zhao, Chengxu Zhou, Peng Zhou, Haifei Zhu
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350325706
DOIs	https://doi.org/10.1109/ROBIO58561.2023.10354582
Publication status	Published - 2023
Event	2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023 - Koh�Samui, Thailand Duration: 2023 Dec 4 → 2023 Dec 9

Publication series

Name	2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

Conference

Conference	2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023
Country/Territory	Thailand
City	Koh�Samui
Period	23/12/4 → 23/12/9

ASJC Scopus subject areas

Artificial Intelligence
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/ROBIO58561.2023.10354582

Cite this

Sathe, P., Schmitz, A., Funabashi, S., Tomo, T. P., Somlor, S., & Shigeki, S. (2023). Design and Development of ExoGlove for Obtaining Human Hand Data. In M. Dogar, B. Fang, D. Kanoulas, J. Pan, A. Sciutti, M. Zhao, G. Bao, B. Joao, B. J. Hylke, H. Chen, C. Teng, Y. Cui, D. Giulio, W. Ding, L. Du, F. Andre, Y. Gao, H. Shun, L. He, T. Hou, Z. Hu, Z. Huang, J.-M. George, Y. Ji, J. Doreen, F. Ju, K. Bilal, K. Wansoo, T. Kiyokawa, H. Li, P. Li, S. Li, X. Li, J. Liao, L. Jie, C. Liu, Q. Liu, L. Lu, Q. Luo, Y. Luo, Z. Mao, M.-H. Uriel, M. Takahiro, N. T. Luan, N. Takuzumi, P. Dario, P. Camilla, C. Ren, R. Serena, R. Luca, S. Fan, S. Susanna, R. Sun, Z. Sun, V. Fabio, G. Wang, W. Wang, X. Wang, Y. Wang, Z. Wang, Q. Wu, X. Wu, Y. Sun, Y. Yan, L. Yang, Y. Iori, J. Zhang, S. Zhang, T. Zhang, J. Zhao, N. Zhao, C. Zhou, P. Zhou, ... H. Zhu (Eds.), 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023 (2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO58561.2023.10354582

Design and Development of ExoGlove for Obtaining Human Hand Data. / Sathe, Prathamesh; Schmitz, Alexander; Funabashi, Satoshi et al.
2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023. ed. / Mehmet Dogar; Bin Fang; Dimitrios Kanoulas; Jia Pan; Alessandra Sciutti; Moju Zhao; Guanjun Bao; Bimbo Joao; Boyle Jordan Hylke; He Chen; Chen Teng; Yunduan Cui; Dagnino Giulio; Wenbo Ding; Liang Du; Farinha Andre; Yuan Gao; Hasegawa Shun; Liang He; Taogang Hou; Zhe Hu; Zhong Huang; Jackson-Mills George; Yunfeng Ji; Jirak Doreen; Feng Ju; Kaddouh Bilal; Kim Wansoo; Takuya Kiyokawa; Haiyuan Li; Peng Li; Shihao Li; Xu Li; Jianfeng Liao; Ling Jie; Chunfang Liu; Quanquan Liu; Liang Lu; Qiuyue Luo; Yudong Luo; Zebing Mao; Martinez-Hernandez Uriel; Matsuno Takahiro; Nguyen Thanh Luan; Nishio Takuzumi; Pasquali Dario; Pierella Camilla; Chao Ren; Ricci Serena; Rossini Luca; Shi Fan; Summa Susanna; Rongchuan Sun; Zhenglong Sun; Vannucci Fabio; Gang Wang; Wei Wang; Xin Wang; Yuquan Wang; Ziya Wang; Qingxiang Wu; Xiaojun Wu; Yuxin Sun; Youcan Yan; Lei Yang; Yanokura Iori; Jingfan Zhang; Shuai Zhang; Tianwei Zhang; Jinglei Zhao; Na Zhao; Chengxu Zhou; Peng Zhou; Haifei Zhu. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sathe, P, Schmitz, A, Funabashi, S , Tomo, TP, Somlor, S & Shigeki, S 2023, Design and Development of ExoGlove for Obtaining Human Hand Data. in M Dogar, B Fang, D Kanoulas, J Pan, A Sciutti, M Zhao, G Bao, B Joao, BJ Hylke, H Chen, C Teng, Y Cui, D Giulio, W Ding, L Du, F Andre, Y Gao, H Shun, L He, T Hou, Z Hu, Z Huang, J-M George, Y Ji, J Doreen, F Ju, K Bilal, K Wansoo, T Kiyokawa, H Li, P Li, S Li, X Li, J Liao, L Jie, C Liu, Q Liu, L Lu, Q Luo, Y Luo, Z Mao, M-H Uriel, M Takahiro, NT Luan, N Takuzumi, P Dario, P Camilla, C Ren, R Serena, R Luca, S Fan, S Susanna, R Sun, Z Sun, V Fabio, G Wang, W Wang, X Wang, Y Wang, Z Wang, Q Wu, X Wu, Y Sun, Y Yan, L Yang, Y Iori, J Zhang, S Zhang, T Zhang, J Zhao, N Zhao, C Zhou, P Zhou & H Zhu (eds), 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023. 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023, Institute of Electrical and Electronics Engineers Inc., 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023, Koh�Samui, Thailand, 23/12/4. https://doi.org/10.1109/ROBIO58561.2023.10354582

Sathe P, Schmitz A, Funabashi S , Tomo TP, Somlor S, Shigeki S. Design and Development of ExoGlove for Obtaining Human Hand Data. In Dogar M, Fang B, Kanoulas D, Pan J, Sciutti A, Zhao M, Bao G, Joao B, Hylke BJ, Chen H, Teng C, Cui Y, Giulio D, Ding W, Du L, Andre F, Gao Y, Shun H, He L, Hou T, Hu Z, Huang Z, George JM, Ji Y, Doreen J, Ju F, Bilal K, Wansoo K, Kiyokawa T, Li H, Li P, Li S, Li X, Liao J, Jie L, Liu C, Liu Q, Lu L, Luo Q, Luo Y, Mao Z, Uriel MH, Takahiro M, Luan NT, Takuzumi N, Dario P, Camilla P, Ren C, Serena R, Luca R, Fan S, Susanna S, Sun R, Sun Z, Fabio V, Wang G, Wang W, Wang X, Wang Y, Wang Z, Wu Q, Wu X, Sun Y, Yan Y, Yang L, Iori Y, Zhang J, Zhang S, Zhang T, Zhao J, Zhao N, Zhou C, Zhou P, Zhu H, editors, 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023). doi: 10.1109/ROBIO58561.2023.10354582

Sathe, Prathamesh ; Schmitz, Alexander ; Funabashi, Satoshi et al. / Design and Development of ExoGlove for Obtaining Human Hand Data. 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023. editor / Mehmet Dogar ; Bin Fang ; Dimitrios Kanoulas ; Jia Pan ; Alessandra Sciutti ; Moju Zhao ; Guanjun Bao ; Bimbo Joao ; Boyle Jordan Hylke ; He Chen ; Chen Teng ; Yunduan Cui ; Dagnino Giulio ; Wenbo Ding ; Liang Du ; Farinha Andre ; Yuan Gao ; Hasegawa Shun ; Liang He ; Taogang Hou ; Zhe Hu ; Zhong Huang ; Jackson-Mills George ; Yunfeng Ji ; Jirak Doreen ; Feng Ju ; Kaddouh Bilal ; Kim Wansoo ; Takuya Kiyokawa ; Haiyuan Li ; Peng Li ; Shihao Li ; Xu Li ; Jianfeng Liao ; Ling Jie ; Chunfang Liu ; Quanquan Liu ; Liang Lu ; Qiuyue Luo ; Yudong Luo ; Zebing Mao ; Martinez-Hernandez Uriel ; Matsuno Takahiro ; Nguyen Thanh Luan ; Nishio Takuzumi ; Pasquali Dario ; Pierella Camilla ; Chao Ren ; Ricci Serena ; Rossini Luca ; Shi Fan ; Summa Susanna ; Rongchuan Sun ; Zhenglong Sun ; Vannucci Fabio ; Gang Wang ; Wei Wang ; Xin Wang ; Yuquan Wang ; Ziya Wang ; Qingxiang Wu ; Xiaojun Wu ; Yuxin Sun ; Youcan Yan ; Lei Yang ; Yanokura Iori ; Jingfan Zhang ; Shuai Zhang ; Tianwei Zhang ; Jinglei Zhao ; Na Zhao ; Chengxu Zhou ; Peng Zhou ; Haifei Zhu. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023).

@inproceedings{2dec2ce4313e44e79faa2fa90ccaffc8,

title = "Design and Development of ExoGlove for Obtaining Human Hand Data",

abstract = "Skill transfer from a human hand to a robot hand is extremely challenging. Currently, researchers typically use mapping of human hand postures onto the robot hand with the help of a data glove. This approach to skill transfer has yielded impressive results for grasping applications, but is difficult to implement for fine manipulation tasks. Humans use their sense of touch to handle various objects to perform fine manipulation tasks such as stitching, calligraphy, carving, and painting. Consequently, it is also important to measure the tactile data exerted by the human hand on the object while performing fine manipulation tasks. Previously we presented FingerTac - a wearable tactile sensor that can be worn interchangeably on human hands as well as on robot hands. FingerTac is capable of measuring 3-axis tactile data distributed at 20 sensing points around the user's fingertip. In this paper we present ExoGlove (see Fig. 1), which is a combination of a mechanical exoskeleton and FingerTac. The mechanical joints of the ExoGlove are embedded with magnetic encoders which allow precise monitoring of joint angles between the human hand finger segments. As the ExoGlove is integrated with the FingerTac it allows roboticists to not only map the posture of the human hand to the robot hand but to also map the tactile data from the human hand while performing fine manipulation tasks. The sensor is able to measure angles with a mean absolute error of 2.76 degrees.",

author = "Prathamesh Sathe and Alexander Schmitz and Satoshi Funabashi and Tomo, \{Tito Pradhono\} and Sophon Somlor and Sugano Shigeki",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023 ; Conference date: 04-12-2023 Through 09-12-2023",

year = "2023",

doi = "10.1109/ROBIO58561.2023.10354582",

language = "English",

series = "2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Mehmet Dogar and Bin Fang and Dimitrios Kanoulas and Jia Pan and Alessandra Sciutti and Moju Zhao and Guanjun Bao and Bimbo Joao and Hylke, \{Boyle Jordan\} and He Chen and Chen Teng and Yunduan Cui and Dagnino Giulio and Wenbo Ding and Liang Du and Farinha Andre and Yuan Gao and Hasegawa Shun and Liang He and Taogang Hou and Zhe Hu and Zhong Huang and Jackson-Mills George and Yunfeng Ji and Jirak Doreen and Feng Ju and Kaddouh Bilal and Kim Wansoo and Takuya Kiyokawa and Haiyuan Li and Peng Li and Shihao Li and Xu Li and Jianfeng Liao and Ling Jie and Chunfang Liu and Quanquan Liu and Liang Lu and Qiuyue Luo and Yudong Luo and Zebing Mao and Martinez-Hernandez Uriel and Matsuno Takahiro and Luan, \{Nguyen Thanh\} and Nishio Takuzumi and Pasquali Dario and Pierella Camilla and Chao Ren and Ricci Serena and Rossini Luca and Shi Fan and Summa Susanna and Rongchuan Sun and Zhenglong Sun and Vannucci Fabio and Gang Wang and Wei Wang and Xin Wang and Yuquan Wang and Ziya Wang and Qingxiang Wu and Xiaojun Wu and Yuxin Sun and Youcan Yan and Lei Yang and Yanokura Iori and Jingfan Zhang and Shuai Zhang and Tianwei Zhang and Jinglei Zhao and Na Zhao and Chengxu Zhou and Peng Zhou and Haifei Zhu",

booktitle = "2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023",

}

TY - GEN

T1 - Design and Development of ExoGlove for Obtaining Human Hand Data

AU - Sathe, Prathamesh

AU - Schmitz, Alexander

AU - Funabashi, Satoshi

AU - Tomo, Tito Pradhono

AU - Somlor, Sophon

AU - Shigeki, Sugano

PY - 2023

Y1 - 2023

N2 - Skill transfer from a human hand to a robot hand is extremely challenging. Currently, researchers typically use mapping of human hand postures onto the robot hand with the help of a data glove. This approach to skill transfer has yielded impressive results for grasping applications, but is difficult to implement for fine manipulation tasks. Humans use their sense of touch to handle various objects to perform fine manipulation tasks such as stitching, calligraphy, carving, and painting. Consequently, it is also important to measure the tactile data exerted by the human hand on the object while performing fine manipulation tasks. Previously we presented FingerTac - a wearable tactile sensor that can be worn interchangeably on human hands as well as on robot hands. FingerTac is capable of measuring 3-axis tactile data distributed at 20 sensing points around the user's fingertip. In this paper we present ExoGlove (see Fig. 1), which is a combination of a mechanical exoskeleton and FingerTac. The mechanical joints of the ExoGlove are embedded with magnetic encoders which allow precise monitoring of joint angles between the human hand finger segments. As the ExoGlove is integrated with the FingerTac it allows roboticists to not only map the posture of the human hand to the robot hand but to also map the tactile data from the human hand while performing fine manipulation tasks. The sensor is able to measure angles with a mean absolute error of 2.76 degrees.

AB - Skill transfer from a human hand to a robot hand is extremely challenging. Currently, researchers typically use mapping of human hand postures onto the robot hand with the help of a data glove. This approach to skill transfer has yielded impressive results for grasping applications, but is difficult to implement for fine manipulation tasks. Humans use their sense of touch to handle various objects to perform fine manipulation tasks such as stitching, calligraphy, carving, and painting. Consequently, it is also important to measure the tactile data exerted by the human hand on the object while performing fine manipulation tasks. Previously we presented FingerTac - a wearable tactile sensor that can be worn interchangeably on human hands as well as on robot hands. FingerTac is capable of measuring 3-axis tactile data distributed at 20 sensing points around the user's fingertip. In this paper we present ExoGlove (see Fig. 1), which is a combination of a mechanical exoskeleton and FingerTac. The mechanical joints of the ExoGlove are embedded with magnetic encoders which allow precise monitoring of joint angles between the human hand finger segments. As the ExoGlove is integrated with the FingerTac it allows roboticists to not only map the posture of the human hand to the robot hand but to also map the tactile data from the human hand while performing fine manipulation tasks. The sensor is able to measure angles with a mean absolute error of 2.76 degrees.

UR - https://www.scopus.com/pages/publications/85182555069

UR - https://www.scopus.com/pages/publications/85182555069#tab=citedBy

U2 - 10.1109/ROBIO58561.2023.10354582

DO - 10.1109/ROBIO58561.2023.10354582

M3 - Conference contribution

AN - SCOPUS:85182555069

T3 - 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

BT - 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

A2 - Dogar, Mehmet

A2 - Fang, Bin

A2 - Kanoulas, Dimitrios

A2 - Pan, Jia

A2 - Sciutti, Alessandra

A2 - Zhao, Moju

A2 - Bao, Guanjun

A2 - Joao, Bimbo

A2 - Hylke, Boyle Jordan

A2 - Chen, He

A2 - Teng, Chen

A2 - Cui, Yunduan

A2 - Giulio, Dagnino

A2 - Ding, Wenbo

A2 - Du, Liang

A2 - Andre, Farinha

A2 - Gao, Yuan

A2 - Shun, Hasegawa

A2 - He, Liang

A2 - Hou, Taogang

A2 - Hu, Zhe

A2 - Huang, Zhong

A2 - George, Jackson-Mills

A2 - Ji, Yunfeng

A2 - Doreen, Jirak

A2 - Ju, Feng

A2 - Bilal, Kaddouh

A2 - Wansoo, Kim

A2 - Kiyokawa, Takuya

A2 - Li, Haiyuan

A2 - Li, Peng

A2 - Li, Shihao

A2 - Li, Xu

A2 - Liao, Jianfeng

A2 - Jie, Ling

A2 - Liu, Chunfang

A2 - Liu, Quanquan

A2 - Lu, Liang

A2 - Luo, Qiuyue

A2 - Luo, Yudong

A2 - Mao, Zebing

A2 - Uriel, Martinez-Hernandez

A2 - Takahiro, Matsuno

A2 - Luan, Nguyen Thanh

A2 - Takuzumi, Nishio

A2 - Dario, Pasquali

A2 - Camilla, Pierella

A2 - Ren, Chao

A2 - Serena, Ricci

A2 - Luca, Rossini

A2 - Fan, Shi

A2 - Susanna, Summa

A2 - Sun, Rongchuan

A2 - Sun, Zhenglong

A2 - Fabio, Vannucci

A2 - Wang, Gang

A2 - Wang, Wei

A2 - Wang, Xin

A2 - Wang, Yuquan

A2 - Wang, Ziya

A2 - Wu, Qingxiang

A2 - Wu, Xiaojun

A2 - Sun, Yuxin

A2 - Yan, Youcan

A2 - Yang, Lei

A2 - Iori, Yanokura

A2 - Zhang, Jingfan

A2 - Zhang, Shuai

A2 - Zhang, Tianwei

A2 - Zhao, Jinglei

A2 - Zhao, Na

A2 - Zhou, Chengxu

A2 - Zhou, Peng

A2 - Zhu, Haifei

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

Y2 - 4 December 2023 through 9 December 2023

ER -

Design and Development of ExoGlove for Obtaining Human Hand Data

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this