Abstract
The InerTouchHand System shows the usage of an instrumented glove-like device for HMI-Human Machine Interaction applications. We explored the use of distributed inertial sensors and vibro-tactile stimulators on the hand. Distributed Inertial Measurement Units (IMUs) can be used to infer structure and reconstruct 6D pose of nodes, as well as relative motion. Our system uses MEMS IMUs on each fingertip for providing relative angular pose by using gravity as a vertical reference for acceleration measurements. Although not always fully observable it can be complemented by the IMUsâ?? gyro rotation and magnetometer measurements. When combined with vibro-tactile stimulators a hand worn device or glove can provide spatial aware feedback. At exp.atâ??13 (2nd Experiment@ International Conference) an interactive demo presented InerTouchHand (iTH), the hand device for gesture recognition and HMI with touch feedback.
Highlights
In this work we explored the use of distributed inertial sensors and vibro-tactile stimulators on the hand, supported by a glove like device designed for that purpose, to be used for enhanced virtual reality interaction and humanmachine interfaces (HMI) (Human Machine Interaction) applications
The pose of the fingers is mapped to the robotic hand, that is linked and controlled using Robot Operating System (ROS) (Robotic Operating System)
In Wang [4] a color based hand tracking scheme is presented, references therein provide a good overview of hand gesture capture systems, namely based in color markers, reflective markers or active LEDs, as well as some based on placing sensors on the hand
Summary
In this work we explored the use of distributed inertial sensors and vibro-tactile stimulators on the hand, supported by a glove like device designed for that purpose, to be used for enhanced virtual reality interaction and HMI (Human Machine Interaction) applications. Distributed MEMS accelerometers can provide rich information about the orientation relative to the vertical gravity reference, as well as dynamic information about motion. These sensors are so minute that they can be distributed over the hand, approaching the still illusive smartdust concept. For sensing hand pose and motion distributed accelerometers are an interesting solution. Minute sensors can be linked in a local bus and provide rich data on the pose and motion. Our target application for demonstration is the control of a human-like robotic hand. The pose of the fingers is mapped to the robotic hand, that is linked and controlled using ROS (Robotic Operating System). Figure 1. shows the sensors on the fingers and corresponding rendered view of the robotic hand simulated under ROS
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