| 研究実績の概要 |
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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