Development of Novel 3-axis Tactile Sensor Dataglove for Skill Transfer
| Project/Area Number |
19J14998
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| Research Category |
Grant-in-Aid for JSPS Fellows
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| Allocation Type | Single-year Grants |
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| Section | 国内 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Waseda University |
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Principal Investigator |
KRISTANTO HARRIS 早稲田大学, 理工学術院, 特別研究員(DC2)
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| Project Period (FY) |
2019-04-25 – 2021-03-31
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| Project Status |
Completed (Fiscal Year 2020)
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| Budget Amount *help |
¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 2020: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 2019: ¥1,200,000 (Direct Cost: ¥1,200,000)
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| Keywords | Haptics / Force Sensor |
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| Outline of Research at the Start |
1:The fingertip and phalange sensor module will be developed. The first prototype of dataglove developed based on both sensor modules for thumb and index finger.
2:The first prototype will be evaluated based on a simple gripping task. Then the next prototype focus on all finger implementation.
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| Outline of Annual Research Achievements |
Last year, a data glove called Exo-Glove was designed based on the tactile sensor at the fingertips already published in the IEEE Humanoids 2019. This data glove prototype is designed to be worn on a human finger. The main technology of the glove consists of three 3-axis tactile sensor modules, which are supported by a variable motion frame RCM mechanism. The RCM mechanism was considered so that it did not need to be placed on the rotary joint of the human finger. The principle is that by rotating concentrically with the human knuckles, the overall design is not thickened and the user's fingers can move freely. The Exo-Glove joint incorporates a Hall effect-based encoder for measuring angles. The overall design of the data glove emphasizes the user to feel the object without covering the palm side of the finger. Exo-Glove performance was presented at the IEEE IROS2020 International Conference.
This year, Exo-Glove's design will be improved especially the size and ergonomic in order to extend the five fingers. In addition, consider the transfer of skills from humans to robots. In particular, our laboratory also has robot hands equipped with tactile sensors. It can be used to recreate the joint trajectories and forces applied by humans during various tasks.
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| Research Progress Status |
令和2年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
令和2年度が最終年度であるため、記入しない。
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Report
(2 results)
Research Products
(3 results)
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[Journal Article] Development of Exo-Glove for Measuring 3-axis Forces Acting on the Human Finger without Obstructing Natural Human-Object Interaction2020
Author(s)
Sathe, P., Schmitz, A., Kristanto, H., Hsu, C., Tomo, T.P., Somlor, S., Sugano, S.
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Journal Title
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
Volume: -
Pages: 4106-4113
DOI
Related Report
Peer Reviewed / Int'l Joint Research
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