Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction

Prathamesh Sathe; Alexander Schmitz; Harris Kristanto; Chincheng Hsu; Tito Pradhono Tomo; Sophon Somlor; Sugano Shigeki

doi:10.1109/IROS45743.2020.9341609

Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction

Prathamesh Sathe^*, Alexander Schmitz, Harris Kristanto, Chincheng Hsu, Tito Pradhono Tomo, Sophon Somlor, Sugano Shigeki

^*Corresponding author for this work

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

3 Citations (Scopus)

Abstract

Measuring the forces that humans exert with their fingers could have many potential applications, such as skill transfer from human experts to robots or monitoring humans. In this paper we introduce the "Exo-Glove"system, which can measure the joint angles and forces acting on the human finger without covering the skin that is in contact with the manipulated object. In particular, 3-axis sensors measure the deformation of the human skin on the sides of the finger to indirectly measure the 3-axis forces acting on the finger. To provide a frame of reference for the sensors, and to measure the joint angles of the human finger, an exoskeleton with remote center of motion (RCM) joints is used. Experiments showed that with the exoskeleton the quality of the force measurements can be improved.

Original language	English
Title of host publication	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4106-4113
Number of pages	8
ISBN (Electronic)	9781728162126
DOIs	https://doi.org/10.1109/IROS45743.2020.9341609
Publication status	Published - 2020 Oct 24
Event	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States Duration: 2020 Oct 24 → 2021 Jan 24

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/Territory	United States
City	Las Vegas
Period	20/10/24 → 21/1/24

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS45743.2020.9341609

Cite this

Sathe, P., Schmitz, A., Kristanto, H., Hsu, C., Tomo, T. P., Somlor, S., & Shigeki, S. (2020). Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 (pp. 4106-4113). Article 9341609 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS45743.2020.9341609

Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction. / Sathe, Prathamesh; Schmitz, Alexander; Kristanto, Harris et al.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 4106-4113 9341609 (IEEE International Conference on Intelligent Robots and Systems).

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

Sathe, P, Schmitz, A, Kristanto, H, Hsu, C, Tomo, TP, Somlor, S & Shigeki, S 2020, Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020., 9341609, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 4106-4113, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, United States, 20/10/24. https://doi.org/10.1109/IROS45743.2020.9341609

Sathe P, Schmitz A, Kristanto H, Hsu C, Tomo TP, Somlor S et al. Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 4106-4113. 9341609. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS45743.2020.9341609

Sathe, Prathamesh ; Schmitz, Alexander ; Kristanto, Harris et al. / Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 4106-4113 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{7673a321e4db4856b7af36b3b6ca27eb,

title = "Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction",

abstract = "Measuring the forces that humans exert with their fingers could have many potential applications, such as skill transfer from human experts to robots or monitoring humans. In this paper we introduce the {"}Exo-Glove{"}system, which can measure the joint angles and forces acting on the human finger without covering the skin that is in contact with the manipulated object. In particular, 3-axis sensors measure the deformation of the human skin on the sides of the finger to indirectly measure the 3-axis forces acting on the finger. To provide a frame of reference for the sensors, and to measure the joint angles of the human finger, an exoskeleton with remote center of motion (RCM) joints is used. Experiments showed that with the exoskeleton the quality of the force measurements can be improved.",

author = "Prathamesh Sathe and Alexander Schmitz and Harris Kristanto and Chincheng Hsu and Tomo, {Tito Pradhono} and Sophon Somlor and Sugano Shigeki",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 ; Conference date: 24-10-2020 Through 24-01-2021",

year = "2020",

month = oct,

day = "24",

doi = "10.1109/IROS45743.2020.9341609",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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

pages = "4106--4113",

booktitle = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020",

}

TY - GEN

T1 - Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction

AU - Sathe, Prathamesh

AU - Schmitz, Alexander

AU - Kristanto, Harris

AU - Hsu, Chincheng

AU - Tomo, Tito Pradhono

AU - Somlor, Sophon

AU - Shigeki, Sugano

PY - 2020/10/24

Y1 - 2020/10/24

N2 - Measuring the forces that humans exert with their fingers could have many potential applications, such as skill transfer from human experts to robots or monitoring humans. In this paper we introduce the "Exo-Glove"system, which can measure the joint angles and forces acting on the human finger without covering the skin that is in contact with the manipulated object. In particular, 3-axis sensors measure the deformation of the human skin on the sides of the finger to indirectly measure the 3-axis forces acting on the finger. To provide a frame of reference for the sensors, and to measure the joint angles of the human finger, an exoskeleton with remote center of motion (RCM) joints is used. Experiments showed that with the exoskeleton the quality of the force measurements can be improved.

AB - Measuring the forces that humans exert with their fingers could have many potential applications, such as skill transfer from human experts to robots or monitoring humans. In this paper we introduce the "Exo-Glove"system, which can measure the joint angles and forces acting on the human finger without covering the skin that is in contact with the manipulated object. In particular, 3-axis sensors measure the deformation of the human skin on the sides of the finger to indirectly measure the 3-axis forces acting on the finger. To provide a frame of reference for the sensors, and to measure the joint angles of the human finger, an exoskeleton with remote center of motion (RCM) joints is used. Experiments showed that with the exoskeleton the quality of the force measurements can be improved.

UR - http://www.scopus.com/inward/record.url?scp=85102402738&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85102402738&partnerID=8YFLogxK

U2 - 10.1109/IROS45743.2020.9341609

DO - 10.1109/IROS45743.2020.9341609

M3 - Conference contribution

AN - SCOPUS:85102402738

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 4106

EP - 4113

BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020

Y2 - 24 October 2020 through 24 January 2021

ER -

Development of exo-glove for measuring 3-axis forces acting on the human finger without obstructing natural human-object interaction

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this