Search

Wearable motion capture gloves enable the precise analysis of hand and finger movements for a variety of uses, including robotic surgery, rehabilitation, and most commonly, virtual augmentation. However, many motion capture gloves restrict natural hand movement with a closed-palm design, including fabric over the palm and fingers. In order to alleviate slippage, improve comfort, reduce sizing issues, and eliminate movement restrictions, this paper presents a new low-cost data glove with an innovative open-palm and finger-free design. The new design improves usability and overall functionality by addressing the limitations of traditional closed-palm designs. It is especially beneficial in capturing movements in fields such as physical therapy and robotic surgery. The new glove incorporates resistive flex sensors (RFSs) at each finger and an inertial measurement unit (IMU) at the wrist joint to measure wrist flexion, extension, ulnar and radial deviation, and rotation. Initially the sensors were tested individually for drift, synchronisation delays, and linearity. The results show a drift of 6.60°/h in the IMU and no drift in the RFSs. There was a 0.06 s delay in the data captured by the IMU compared to the RFSs. The glove's performance was tested with a collaborate robot testing setup. In static conditions, it was found that the IMU had a worst case error across three trials of 7.01° and a mean absolute error (MAE) averaged over three trials of 4.85°, while RFSs had a worst case error of 3.77° and a MAE of 1.25° averaged over all five RFSs used. There was no clear correlation between measurement error and speed. Overall, the new glove design proved to accurately measure joint angles. [ABSTRACT FROM AUTHOR]

Abstract Background Chronic immune-mediated neuropathies are clinically heterogeneous and require regular, objective, and multidimensional monitoring to individualize treatment. However, established outcome measures are insufficient regarding measurement quality criteria (e.g., reliability, objectivity) or functional relevance. Wearables such as data gloves might be helpful, allowing repeated quantification of complex everyday life-relevant motor function of the hand. Methods 25 patients with chronic inflammatory demyelinating polyneuropathy or multifocal motor neuropathy were followed-up at five time points during maintenance therapy with intravenous immunoglobulin. 14 of them showed clinically relevant hand motor impairment. We examined the patients’ hand function using a data glove which quantifies the active range of motion (ROM) of the hand based on three different movement patterns. In addition, clinical outcome parameters (grip strength measurement, MRC Sum Score, INCAT disability score), nerve conduction studies (NCS), and high-resolution ultrasound (HRUS) were performed, and patient-reported outcome measures (PROMs) like the Rasch-built Overall Disability Scale (R-ODS) were assessed. We calculated correlation coefficients, performed Receiver Operating Characteristic analysis, as well as correlation analyses for the glove data and clinical outcome parameters. Longitudinal analyses were based on a Linear Mixed Model, and we assessed construct validity of the data glove by analyzing correlations between the glove measurements and well-established clinical parameters. Results We found good to excellent test–retest reliability for the ROM in all glove movement patterns (Intraclass correlation coefficients = 0.83–0.94), underlining the ability to capture clinical stability. Moreover, the glove demonstrated adequate, sensitivity and specificity in detecting hand motor impairment (area under the curve (AUC): 0.714–0.780), and it performed better than NCS and HRUS (AUC: 0.552/0.701). The AUC values for the metrically scaled parameters include: Vigorimeter (AUC: 0.929) and R-ODS (AUC: 0.698). Additionally, the data glove proved to be a valid tool, as we demonstrated moderate to strong, significant correlations between the glove and established clinical parameters (especially Vigorimeter), as well as PROMs (especially R-ODS). Conclusions This data glove allowed for a non-invasive assessment of the hand motor function and yielded investigator-independent results that reliably reflected individual functional deficits with relevance to everyday life. Future studies should explore the ability to predict clinically meaningful responses to immunomodulatory treatment and to support and monitor rehabilitation progress, with potential applications in other neurological diseases as well. Trial registration at the German Clinical Trials Register, Deutsches Register Klinischer Studien (DRKS: 00027345), retrospectively registered on 23rd March 2022: https://drks.de/search/de/trial/DRKS00027345

The rise of the metaverse concept has brought about widespread attention in wearable gesture recognition devices. Data gloves based on flexible strain sensors have been favoured by researchers owing to their low cost, light weight, direct and continuous monitoring of finger movements. In this review, we first compare the advantages and disadvantages of four different approaches based on the vision sensors, myoelectric sensors, inertial and magnetic sensors, and flexible strain sensors in designing data gloves, and demonstrate the superiority of the flexible strain sensor-based data glove used for metaverse applications. Next, some latest commercial data gloves are exampled and the function modules of the data gloves are presented based on the flexible strain sensors. Meanwhile, the potential applications of gesture recognition in the metaverse are summarized in diversified fields. Finally, the existing problems and development prospects of the current data gloves based on flexible strain sensors are concluded. We are optimistic that novel flexible strain sensor-based data gloves will make transformational impact to realize accurate, low-latency, and immersive gesture interaction in the metaverse. [ABSTRACT FROM AUTHOR]

This paper investigates hand grasping, a fundamental activity in daily living, by examining the forces and postures involved in the lift-and-hold phases of grasping. We introduce a novel multi-sensory data glove, integrated with resistive flex sensors and capacitive force sensors, to measure the intricate dynamics of hand movement. The study engaged five subjects to capture a comprehensive dataset that includes contact forces at the fingertips and joint angles, furnishing a detailed portrayal of grasp mechanics. Focusing on grasp synergies, our analysis delved into the quantitative relationships between the correlated forces among the fingers. By manipulating one variable at a time—either the object or the subject—our cross-sectional approach yields rich insights into the nature of grasp forces and angles. The correlation coefficients for finger pairs presented median values ranging from 0.5 to nearly 0.9, indicating varying degrees of inter-finger coordination, with the thumb-index and index-middle pairs exhibiting particularly high synergy. The findings, depicted through spider charts and correlation coefficients, reveal significant patterns of cooperative finger behavior. These insights are crucial for the advancement of hand mechanics understanding and have profound implications for the development of assistive technologies and rehabilitation devices.

Recently, VR-based training applications have become popular and promising, as they can simulate real-world situations in a safe, repeatable, and cost-effective way. For immersive simulations, various input devices have been designed and proposed to increase the effectiveness of training. In this study, we developed a novel device that generates 3D hand motion data and provides haptic force feedback for VR interactions. The proposed device can track 3D hand positions using a combination of the global position estimation of ultrasonic sensors and the hand pose estimation of inertial sensors in real time. For haptic feedback, shape–memory alloy (SMA) actuators were designed to provide kinesthetic forces and an efficient power control without an overheat problem. Our device improves upon the shortcomings of existing commercial devices in tracking and haptic capabilities such that it can track global 3D positions and estimate hand poses in a VR space without using an external suit or tracker. For better flexibility in handling and feeling physical objects compared to exoskeleton-based devices, we introduced an SMA-based actuator to control haptic forces. Overall, our device was designed and implemented as a lighter and less bulky glove which provides comparable accuracy and performance in generating 3D hand motion data for a VR training application (i.e., the use of a fire extinguisher), as demonstrated in the experimental results. [ABSTRACT FROM AUTHOR]

This paper presents a gesture-controlled robotic arm system designed for agricultural harvesting, utilizing a data glove equipped with bending sensors and OptiTrack systems. The system aims to address the challenges of labor-intensive fruit harvesting by providing a user-friendly and efficient solution. The data glove captures hand gestures and movements using bending sensors and reflective markers, while the OptiTrack system ensures high-precision spatial tracking. Machine learning algorithms, specifically a CNN+BiLSTM model, are employed to accurately recognize hand gestures and control the robotic arm. Experimental results demonstrate the system's high precision in replicating hand movements, with a Euclidean Distance of 0.0131 m and a Root Mean Square Error (RMSE) of 0.0095 m, in addition to robust gesture recognition accuracy, with an overall accuracy of 96.43%. This hybrid approach combines the adaptability and speed of semi-automated systems with the precision and usability of fully automated systems, offering a promising solution for sustainable and labor-efficient agricultural practices. [ABSTRACT FROM AUTHOR]

The understanding of the external characteristics of objects that need to be grasped is crucial for enhancing the dexterity of a robotic hand. Utilizing ontology-based knowledge representation (KR) approaches in the field of grasping presents novel opportunities for designing effective object recognition modules. This research paper proposes the development of an ontology aimed at recognizing objects that have been grasped. The ontology, named OntOGrasp, encompasses various concepts, attributes, and relationships concerning the kinematics of the hand and the structural components of the object. To generate a dataset for grasp kinematics, a series of grasping experiments were conducted using carefully selected objects. A semantic feature selection approach was then introduced, leveraging the knowledge graph embedding technique, to identify practical features from the ontology. The grasp dataset was processed to extract relevant data pertaining to the selected features, which were subsequently employed to train classification algorithms for the task of object recognition. The integration of semantically suggested features resulted in a significant improvement in recognition accuracy for the classifiers, surpassing the performance achieved by using the complete feature set. The semantic features demonstrated an accuracy increase ranging from 1% to 9% across all classification algorithms, accompanied by a notable reduction in false positives and false negatives during object prediction. This enhanced object recognition accuracy substantiates the importance of knowledge modeling in incorporating practical aspects of a domain described through experimentation, thereby yielding plausible outcomes. [ABSTRACT FROM AUTHOR]

In this work, we present a reconfigurable data glove design to capture different modes of human hand–object interactions, which are critical in training embodied artificial intelligence (AI) agents for fine manipulation tasks. To achieve various downstream tasks with distinct features, our reconfigurable data glove operates in three modes sharing a unified backbone design that reconstructs hand gestures in real time. In the tactile-sensing mode, the glove system aggregates manipulation force via customized force sensors made from a soft and thin piezoresistive material; this design minimizes interference during complex hand movements. The virtual reality (VR) mode enables real-time interaction in a physically plausible fashion: A caging-based approach is devised to determine stable grasps by detecting collision events. Leveraging a state-of-the-art finite element method, the simulation mode collects data on fine-grained four-dimensional manipulation events comprising hand and object motions in three-dimensional space and how the object’s physical properties (e.g., stress and energy) change in accordance with manipulation over time. Notably, the glove system presented here is the first to use high-fidelity simulation to investigate the unobservable physical and causal factors behind manipulation actions. In a series of experiments, we characterize our data glove in terms of individual sensors and the overall system. More specifically, we evaluate the system’s three modes by ① recording hand gestures and associated forces, ② improving manipulation fluency in VR, and ③ producing realistic simulation effects of various tool uses, respectively. Based on these three modes, our reconfigurable data glove collects and reconstructs fine-grained human grasp data in both physical and virtual environments, thereby opening up new avenues for the learning of manipulation skills for embodied AI agents.

This paper presents a gesture-controlled robotic arm system designed for agricultural harvesting, utilizing a data glove equipped with bending sensors and OptiTrack systems. The system aims to address the challenges of labor-intensive fruit harvesting by providing a user-friendly and efficient solution. The data glove captures hand gestures and movements using bending sensors and reflective markers, while the OptiTrack system ensures high-precision spatial tracking. Machine learning algorithms, specifically a CNN+BiLSTM model, are employed to accurately recognize hand gestures and control the robotic arm. Experimental results demonstrate the system’s high precision in replicating hand movements, with a Euclidean Distance of 0.0131 m and a Root Mean Square Error (RMSE) of 0.0095 m, in addition to robust gesture recognition accuracy, with an overall accuracy of 96.43%. This hybrid approach combines the adaptability and speed of semi-automated systems with the precision and usability of fully automated systems, offering a promising solution for sustainable and labor-efficient agricultural practices.

Recently, VR-based training applications have become popular and promising, as they can simulate real-world situations in a safe, repeatable, and cost-effective way. For immersive simulations, various input devices have been designed and proposed to increase the effectiveness of training. In this study, we developed a novel device that generates 3D hand motion data and provides haptic force feedback for VR interactions. The proposed device can track 3D hand positions using a combination of the global position estimation of ultrasonic sensors and the hand pose estimation of inertial sensors in real time. For haptic feedback, shape–memory alloy (SMA) actuators were designed to provide kinesthetic forces and an efficient power control without an overheat problem. Our device improves upon the shortcomings of existing commercial devices in tracking and haptic capabilities such that it can track global 3D positions and estimate hand poses in a VR space without using an external suit or tracker. For better flexibility in handling and feeling physical objects compared to exoskeleton-based devices, we introduced an SMA-based actuator to control haptic forces. Overall, our device was designed and implemented as a lighter and less bulky glove which provides comparable accuracy and performance in generating 3D hand motion data for a VR training application (i.e., the use of a fire extinguisher), as demonstrated in the experimental results.

This work aimed to develop a data glove for the real-time translation of Turkish sign language. In addition, a novel Fuzzy Logic Assisted ELM method (FLA-ELM) for hand gesture classification is proposed. In order to acquire motion information from the gloves, 12 flexibility sensors, two inertial sensors, and 10 Hall sensors were employed. The NVIDIA Jetson Nano, a small pocketable minicomputer, was used to run the recognition software. A total of 34 signal information was gathered from the sensors, and feature matrices were generated in the form of time series for each word. In addition, an algorithm based on Euclidean distance has been developed to detect end-points between adjacent words in a sentence. In addition to the proposed method, CNN and classical ANN methods, whose model was created by us, were used in sign language recognition experiments, and the results were compared. For each classified word, samples were collected from 25 different signers, and 3000 sample data were obtained for 120 words. Furthermore, the dataset's size was reduced using PCA, and the results of the newly created datasets were compared to the reference results. In the performance tests, single words and three-word sentences were translated with an accuracy of up to 96.8% and a minimum 2.4 ms processing time. [ABSTRACT FROM AUTHOR]

When studying hand kinematics, it is key to differentiate between free motion and manipulation. This differentiation can be achieved using pressure sensors or through visual analysis in the absence of sensors. Certain data gloves, such as the CyberGlove II, allow recording hand kinematics with good accuracy when properly calibrated. Other gloves, such as the Virtual Motion Glove 30 (VMG30), are also equipped with pressure sensors to detect object contact. The aim of this study is to perform a technical validation to evaluate the feasibility of using virtual reality gloves with pressure sensors such as the VMG30 for hand kinematics characterization during product manipulation, testing its accuracy for motion recording when compared with CyberGlove as well as its ability to differentiate between free motion and manipulation using its pressure sensors in comparison to visual analysis. Firstly, both data gloves were calibrated using a specific protocol developed by the research group. Then, the active ranges of motion of 16 hand joints angles were recorded in three participants using both gloves and compared using repeated measures ANOVAs. The detection capability of pressure sensors was compared to visual analysis in two participants while performing six tasks involving product manipulation. The results revealed that kinematic data recordings from the VMG30 were less accurate than those from the CyberGlove. Furthermore, the pressure sensors did not provide additional precision with respect to the visual analysis technique. In fact, several pressure sensors were rarely activated, and the distribution of pressure sensors within the glove was questioned. Current available gloves such as the VMG30 would require design improvements to fit the requirements for kinematics characterization during product manipulation. The pressure sensors should have higher sensitivity, the pressure sensor's location should comprise the palm, glove fit should be improved, and its overall stiffness should be reduced. [ABSTRACT FROM AUTHOR]

Traditional crafts such as tategu (door and window fittings), kimono (clothes), and shikki (lacquerware) are regarded as important items for daily life in Japan; however, in recent years, the industry that manufactures and sells these products has experienced various problems and has continued to decline. Conversely, overseas demand for traditional crafts has been gradually increasing with the increase in foreign visitors to Japan in recent years. For these reasons, there is a need in the traditional crafts industry to provide information and promote traditional crafts to overseas customers. Accordingly, in this study, we implement a high presence traditional crafts experience system using virtual reality technology. Our proposed system provides users with a highly realistic virtual space experience using a head-mounted display and a data glove. In addition, multiple users can share the space via the network. Further, we consider the promotion of traditional crafts to overseas customers by combining multicultural architectural styles and Japanese culture. [ABSTRACT FROM AUTHOR]

Gesture recording, modeling, and understanding based on a robust electronic glove (E-glove) are of great significance for efficient human-machine cooperation in harsh environments. However, such robust edge-intelligence interfaces remain challenging as existing E-gloves are limited in terms of integration, waterproofness, scalability, and interface stability between different components. Here, we report on the design, manufacturing, and application scenarios for a waterproof E-glove, which is of low cost, lightweight, and scalable for mass production, as well as environmental robustness, waterproofness, and washability. An improved neural network architecture is proposed to implement environment-adaptive learning and inference for hand gestures, which achieves an amphibious recognition accuracy of 100% in 26 categories by analyzing 2,600 hand gesture patterns. We demonstrate that the E-glove can be used for amphibious remote vehicle navigation via hand gestures, potentially opening the way for efficient human-human and human-machine cooperation in harsh environments. [ABSTRACT FROM AUTHOR]

Many diseases, such as stroke, arthritis, and spinal cord injury, can cause severe hand impairment. Treatment options for these patients are limited by expensive hand rehabilitation devices and dull treatment procedures. In this study, we present an inexpensive soft robotic glove for hand rehabilitation in virtual reality (VR). Fifteen inertial measurement units are placed on the glove for finger motion tracking, and a motor—tendon actuation system is mounted onto the arm and exerts forces on fingertips via finger-anchoring points, providing force feedback to fingers so that the users can feel the force of a virtual object. A static threshold correction and complementary filter are used to calculate the finger attitude angles, hence computing the postures of five fingers simultaneously. Both static and dynamic tests are performed to validate the accuracy of the finger-motion-tracking algorithm. A field-oriented-control-based angular closed-loop torque control algorithm is adopted to control the force applied to the fingers. It is found that each motor can provide a maximum force of 3.14 N within the tested current limit. Finally, we present an application of the haptic glove in a Unity-based VR interface to provide the operator with haptic feedback while squeezing a soft virtual ball. [ABSTRACT FROM AUTHOR]

For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilizing its capability of handling and manipulating objects and communicating with other humans or machines. The optimal relationship between the number of measurement parameters, measurement accuracy, as well as complexity, usability and cost of the measuring systems is hard to find. Biomechanic assumptions, the concepts of a biomechatronic system and the mechatronic design process, as well as commercially available components, are used to develop a sensorized glove. The proposed wearable introduced in this paper can measure 14 of 15 angular values of a simplified hand model. Additionally, five contact pressure values at the fingertips and inertial data of the whole hand with six degrees of freedom are gathered. Due to the modular design and a hand size examination based on anthropometric parameters, the concept of the wearable is applicable to a large variety of hand sizes and adaptable to different use cases. Validations show a combined root-mean-square error of 0.99° to 2.38° for the measurement of all joint angles on one finger, surpassing the human perception threshold and the current state-of-the-art in science and technology for comparable systems. [ABSTRACT FROM AUTHOR]

There are numerous communication barriers between people with and without hearing impairments. Writing and sign language are the most common modes of communication. However, written communication takes a long time. Furthermore, because sign language is difficult to learn, few people understand it. It is difficult to communicate between hearing-impaired people and hearing people because of these issues. In this research, we built the Sign-Glove system to recognize sign language, a device that combines a bend sensor and WonderSense (an inertial sensor node). The bending sensor was used to recognize the hand shape, and WonderSense was used to recognize the hand motion. The system collects a more comprehensive sign language feature. Following that, we built a weighted DTW fusion multi-sensor. This algorithm helps us to combine the shape and movement of the hand to recognize sign language. The weight assignment takes into account the feature contributions of the sensors to further improve the recognition rate. In addition, a set of interfaces was created to display the meaning of sign language words. The experiment chose twenty sign language words that are essential for hearing-impaired people in critical situations. The accuracy and recognition rate of the system were also assessed. [ABSTRACT FROM AUTHOR]

With the development of virtual reality (VR) interaction technology, data glove has become one of the most popular devices for human-computer interaction. It's valuable to design high-sensitive and flexible sensor for data glove. Therefore, a low-cost data glove based on self-compensating elastic optical fiber sensor with self-calibration function is proposed. The tunable and stretchable elastic fiber was fabricated by a simple, economical and controllable method. The fiber has good flexibility and high stability under stretching, bending and indentation deformation. The optical fibers are installed in the sensor in a U shape with a bending radius of 5 mm. Compared with the straight fiber, the response sensitivity of the U-shaped fiber to deformation is increased by about 7 times at most. The reference optical fiber is connected to the sensor, which effectively improves the stability and accuracy of the sensor system. In addition, the sensors are easy to install so that the data gloves can be customized for different hand shapes. In the gesture capture test, it can respond quickly and guide the manipulator to track the gesture. This responsive and stable data glove has broad development potential in motion monitoring, telemedicine and human-computer interaction. [ABSTRACT FROM AUTHOR]

Traditional heavy and complex control equipment such as remote controllers (RCs) and ground stations (GSs) are not able to meet the fast and flexible control requirements of unmanned aerial vehicles (UAVs) in complex environments. This article thus proposes a gesture recognition method for the control of UAVs. To achieve the goal of gestural manipulation of UAVs, this method can accurately recognize a variety of gestures and convert the gestures into corresponding UAV control commands. First, the wireless data glove incorporates flex sensors, and inertial sensors are used to gather gesture datasets. The trained neural network model is then deployed on the data glove based on an STM32 microcontroller for real-time gesture recognition, in which the backpropagation (BP) network is used for static gesture recognition and the bidirectional gated recurrent unit (Bi-GRU) network is used for dynamic gesture recognition. Finally, the gesture is converted into the control command and sent to the aircraft terminal to control the UAV. Using the UAV simulation test on the simulation platform, the recognition accuracy of the basic UAV control commands corresponding to ten static gestures is found to be 100%, and the mean recognition accuracy of the UAV mode-switching commands corresponding to five dynamic gestures is 98.4% indicating that the gesture recognition effect of the system is perfect. Mission testing performed in the scene constructed in the simulation environment demonstrates that the UAV can respond rapidly to gestures, and the method proposed in this article can achieve real-time and stable control of the UAV on the end side. [ABSTRACT FROM AUTHOR]

The purpose of this study is to realize virtual interaction and manipulation control of a hexacopter based on hand gesture recognition from a designed data glove, to provide an intuitive and visual real-time simulation system for flight control algorithm verification and external control equipment testing. First, the hand gesture recognition from a designed data glove is studied, which can recognize different actions, such as mobile ready, grab, loosen, landing, take-off, and hover. Then, the design of virtual simulation system for hexacopter capture is completed, with the model design of hexacopter and manipulator, and the simulation software design with $CoppeliaSim$. Finally, virtual simulation experiment of hexacopter grasping and virtual flight control experiment based on data glove are tested, respectively, and quantitatively described. The overall recognition rate is 84.3%, indicating that the data glove produced has the ability to recognize gestures, but its recognition performance is not superior. In gesture recognition, the recognition rate of static gestures is relatively higher than that of dynamic gestures. Among the static gestures, the hover gesture has the highest recognition rate. The average correct rate of static gestures can reach 94%. The lowest recognition rate of dynamic gestures is upward movement, and the average recognition rate of dynamic gestures is 76.1%. The research can be used to remotely operate hexacopter using a data glove in the future and improve the control performance through virtual interaction and manipulation simulation before actual application. [ABSTRACT FROM AUTHOR]

The complexity of manufacturing is rising considerably and it enhances through the introduction of new technologies to the system. Advancements in new technologies (in this study data gloves) and their application in the 4.0 assembly context will bring about new and emerging occupational health and safety (OHS) and operational risks. This study aims to apply STAMP (Systems-Theoretic Accident Model and Processes)-based approach to analyze these risks when a data glove is introduced to an assembly system. The application of STPA (Systems-Theoretic Process Analysis) on realistic case studies provides a systemic view of systems' control structure from OHS and operational concerns. Findings indicate that STPA is a promising method for OHS and operational risk analysis when a wearable is introduced to a complex assembly system, especially in designing step. However, technology readiness level limits access to numerical and detailed data in providing insight into intensity of the different control structure's effect and system components and their interactions on the studied system. [ABSTRACT FROM AUTHOR]

Wearable devices such as data gloves have experienced tremendous growth over the past two decades. It is vital to develop flexible sensors with fast response, high sensitivity and high stability for intelligent data gloves. Therefore, a tractable low-cost flexible data glove with self-calibration function based on a space-division multiplexed flexible optical fiber sensor is proposed. A simple, stable and economical method was used to fabricate flexible silicone rubber fiber for a stretchable double-layered coaxial cylinder. The test results show that the fiber is not sensitive to the temperature range of (20~50 °C) and exhibits excellent flexibility and high stability under tensile, bending and torsional deformation. In addition, the signal detection part of the data glove enables compact and efficient real-time information acquisition and processing. Combined with a self-calibration function that can improve the accuracy of data acquisition, the data glove can be self-adaptive according to different hand sizes and bending habits. In a gesture capture test, it can accurately recognize and capture each gesture, and guide the manipulator to make the same action. The low-cost, fast-responding and structurally robust data glove has potential applications in areas such as sign language recognition, telemedicine and human–robot interaction. [ABSTRACT FROM AUTHOR]

In this paper, the interactive application of data gloves based on emotion recognition and judgment system is investigated. A system of emotion recognition and judgment is established based on the set of optimal features of physiological signals, and then a data glove with multi-channel data transmission based on the recognition of hand posture and emotion is constructed. Finally, the system of virtual hand control and a manipulator driven by emotion is built. Five subjects were selected for the test of the above systems. The test results show that the virtual hand and manipulator can be simultaneously controlled by the data glove. In the case that the subjects do not make any hand gesture change, the system can directly control the gesture of the virtual hand by reading the physiological signal of the subject, at which point the gesture control and emotion control can be carried out at the same time. In the test of the manipulator driven by emotion, only the results driven by two emotional trends achieve the desired purpose. [ABSTRACT FROM AUTHOR]

When studying hand kinematics, it is key to differentiate between free motion and manipulation. This differentiation can be achieved using pressure sensors or through visual analysis in the absence of sensors. Certain data gloves, such as the CyberGlove II, allow recording hand kinematics with good accuracy when properly calibrated. Other gloves, such as the Virtual Motion Glove 30 (VMG30), are also equipped with pressure sensors to detect object contact. The aim of this study is to perform a technical validation to evaluate the feasibility of using virtual reality gloves with pressure sensors such as the VMG30 for hand kinematics characterization during product manipulation, testing its accuracy for motion recording when compared with CyberGlove as well as its ability to differentiate between free motion and manipulation using its pressure sensors in comparison to visual analysis. Firstly, both data gloves were calibrated using a specific protocol developed by the research group. Then, the active ranges of motion of 16 hand joints angles were recorded in three participants using both gloves and compared using repeated measures ANOVAs. The detection capability of pressure sensors was compared to visual analysis in two participants while performing six tasks involving product manipulation. The results revealed that kinematic data recordings from the VMG30 were less accurate than those from the CyberGlove. Furthermore, the pressure sensors did not provide additional precision with respect to the visual analysis technique. In fact, several pressure sensors were rarely activated, and the distribution of pressure sensors within the glove was questioned. Current available gloves such as the VMG30 would require design improvements to fit the requirements for kinematics characterization during product manipulation. The pressure sensors should have higher sensitivity, the pressure sensor’s location should comprise the palm, glove fit should be improved, and its overall stiffness should be reduced.

• Gesture recognition based on FBG sensing with neural network is presented. • A human hand wearable data glove module consisting of FBG sensors was constructed. • An improved BP neural network algorithm was designed for gesture recognition. • The proposed GA-BP neural network exhibited 100% gesture recognition accuracy. The recognition of gestures through intelligent wearable devices has a broad array of applications, including low-visibility industrial sites and robotics. However, accurately and swiftly recognizing gestures poses a significant challenge. This study addresses the complex interplay between multimodal information sensing and signal processing with flexible sensors in wearable data gloves by conducting theoretical and experimental investigations into gesture recognition using fiber Bragg grating (FBG) flexible sensors. First, the degree of bending and bending angle of the FBG sensor were calibrated, and the impact of temperature was investigated. Subsequently, a human hand wearable data glove gesture recognition system based on fiber grating sensing was constructed, and gesture recognition experiments were conducted. Finally, an enhanced error backpropagation (BP) neural network model for gesture recognition based on genetic algorithms (GA) was established and tested and the results were compared with those achieved using a conventional error BP neural network. The comparison revealed that under the same network structure, the recognition accuracy of the GA-BP neural network of approximately 100% was higher than the conventional BP neural network's accuracy of 95.77%. Thus, the development of gesture recognition using FBG sensors provides a theoretical foundation and technical support for multiple applications of wearable data gloves, driving their adoption in areas such as human–computer interactions, intelligent robotics, and complex high-risk environments. [ABSTRACT FROM AUTHOR]

Decoding natural hand movements is of interest for human–computer interaction and may constitute a helpful tool in the diagnosis of motor diseases and rehabilitation monitoring. However, the accurate measurement of complex hand movements and the decoding of dynamic movement data remains challenging. Here, we introduce two algorithms, one based on support vector machine (SVM) classification combined with dynamic time warping, and the other based on a long short-term memory (LSTM) neural network, which were designed to discriminate small differences in defined sequences of hand movements. We recorded hand movement data from 17 younger and 17 older adults using an exoskeletal data glove while they were performing six different movement tasks. Accuracy rates in decoding the different movement types were similarly high for SVM and LSTM in across-subject classification, but, for within-subject classification, SVM outperformed LSTM. The SVM-based approach, therefore, appears particularly promising for the development of movement decoding tools, in particular if the goal is to generalize across age groups, for example for detecting specific motor disorders or tracking their progress over time. [ABSTRACT FROM AUTHOR]

Data glove devices, apart from being widely used in industry and entertainment, can also serve as a means for communication with the environment. This is possible thanks to the advancement in electronic technology and machine learning algorithms. In this paper, the results of the study using a designed data glove equipped with 10 piezoelectric sensors are reported, and the designed glove is validated on a recognition task of hand gestures based on 16 static signs of the Polish Sign Language (PSL) alphabet. The main result of the study is that recognition of 16 PSL static gestures is possible with a reduced number of piezoelectric sensors. This result has been achieved by applying the decision tree classifier that can rank the importance of the sensors for the recognition performance. Other machine learning algorithms were also tested, and it was showed that for the Support Vector Machines, k-NN and Bagged Trees classifiers, a recognition rate of the signs exceeding 90% can be achieved just for three preselected sensors. Such a result is important for a reduction in design complexity and costs of such a data glove with sustained reliability of the device. [ABSTRACT FROM AUTHOR]

Data gloves with strain gauges are a widely used technology to record hand kinematics. Several researchers have experienced problems when using data glove models to record distal interphalangeal (DIP) joints, mainly in relation to bad glove fitting. The aim of this work is to report the problems that arise when using one of these gloves (CyberGlove) and to determine an appropriate hand size to avoid these problems. First, static controlled postures of DIP joints and dynamic recordings while closing/opening the fist were taken using the data gloves on participants with different hand sizes, in order to establish the minimum hand length that does not pose recording problems. The minimum obtained hand length that allowed proper recording was 184 mm. Then, validation was performed, which consisted of recording the functional range of motion of the DIP joints in a sample of eight healthy participants with hand lengths longer than the minimum obtained one. These results were then compared to the results found in the literature. Although the glove fit properly, some problems remained: difficulty to record small flexion angles or a diminished touch sensitivity. Its usability would improve if two or three different glove sizes were commercially available. [ABSTRACT FROM AUTHOR]

The Action Research Arm Test (ARAT) can provide subjective results due to the difficulty assessing abnormal patterns in stroke patients. The aim of this study was to identify joint impairments and compensatory grasping strategies in stroke patients with left (LH) and right (RH) hemiparesis. An experimental study was carried out with 12 patients six months after a stroke (three women and nine men, mean age: 65.2 ± 9.3 years), and 25 healthy subjects (14 women and 11 men, mean age: 40.2 ± 18.1 years. The subjects were evaluated during the performance of the ARAT using a data glove. Stroke patients with LH and RH showed significantly lower flexion angles in the MCP joints of the Index and Middle fingers than the Control group. However, RH patients showed larger flexion angles in the proximal interphalangeal (PIP) joints of the Index, Middle, Ring, and Little fingers. In contrast, LH patients showed larger flexion angles in the PIP joints of the Middle and Little fingers. Therefore, the results showed that RH and LH patients used compensatory strategies involving increased flexion at the PIP joints for decreased flexion in the MCP joints. The integration of a data glove during the performance of the ARAT allows the detection of finger joint impairments in stroke patients that are not visible from ARAT scores. Therefore, the results presented are of clinical relevance. [ABSTRACT FROM AUTHOR]

Data gloves capable of measuring finger joint kinematics can provide objective range of motion information useful for clinical hand assessment and rehabilitation. Data glove sensors are strategically placed over specific finger joints to detect movement of the wearers' hand. The construction of the sensors used in a data glove, the number of sensors used, and their positioning on each finger joint are influenced by the intended use case. Although most glove sensors provide reasonably stable linear output, this stability is influenced externally by the physical structure of the data glove sensors, as well as the wearer's hand size relative to the data glove, and the elastic nature of materials used in its construction. Data gloves typically require a complex calibration method before use. Calibration may not be possible when wearers have disabled hands or limited joint flexibility, and so limits those who can use a data glove within a clinical context. This paper examines and describes a unique approach to calibration and angular calculation using a neural network that improves data glove repeatability and accuracy measurements without the requirement for data glove calibration. Results demonstrate an overall improvement in data glove measurements. This is particularly relevant when the data glove is used with those who have limited joint mobility and cannot physically complete data glove calibration. [ABSTRACT FROM AUTHOR]

This research investigates the design and implementation of elastomer-based piezoresistive strain sensors and applies them to a data glove to demonstrate their application. The piezoresistive strain sensors are made by mixing Ecoflex 00-30 and carbon-black nanoparticles and then using stencil and doctor blading to deposit the piezoresistive traces as a mass fabrication technique. The primary objective is to integrate two sensing piezoresistive elements as one single-piece sensor that detects the bending angles of the metacarpophalangeal and proximal interphalangeal joints of each finger. Using a unique zig-zag pattern allows to selectively mask any unwanted piezoresistive sensing. The sensor has a gage factor of 0.68. Experiments conducted have demonstrated that the use of these soft, flexible, and stretchable piezoresistive sensors is repeatable and viable sensors for data-glove and has the potential for other wearable applications. [ABSTRACT FROM AUTHOR]

Specifying leg placement is a key element for legged robot control, however current methods for specifying individual leg motions with human-robot interfaces require mental concentration and the use of both arm muscles. In this paper, a new control interface is discussed to specify leg placement for hexapod robot by using finger motions. Two mapping methods are proposed and tested with lab staff, Joint Angle Mapping (JAM) and Tip Position Mapping (TPM). The TPM method was shown to be more efficient. Then a manual controlled gait based on TPM is compared with fixed gait and camera-based autonomous gait in a Webots simulation to test the obstacle avoidance performance on 2D terrain. Number of Contacts (NOC) for each gait are recorded during the tests. The results show that both the camera-based autonomous gait and the TPM are effective methods in adjusting step size to avoid obstacles. In high obstacle density environments, TPM reduces the number of contacts to 25% of the fixed gaits, which is even better than some of the autonomous gaits with longer step size. This shows that TPM has potential in environments and situations where autonomous footfall planning fails or is unavailable. In future work, this approach can be improved by combining with haptic feedback, additional degrees of freedom and artificial intelligence.

Growing impact of poststroke upper extremity (UE) functional limitations entails newer dimensions in assessment methodologies. This has compelled researchers to think way beyond traditional stroke assessment scales during the out-patient rehabilitation phase. In concurrence with this, sensor-driven quantitative evaluation of poststroke UE functional limitations has become a fertile field of research. Here, we have emphasized an instrumented wearable for systematic monitoring of stroke patients with right-hemiparesis for evaluating their grasp abilities deploying intelligent algorithms. An instrumented glove housing 6 flex sensors, 3 force sensors, and a motion processing unit was developed to administer 19 activities of Action Research Arm Test (ARAT) while experimenting on 20 voluntarily participating subjects. After necessary signal conditioning, meaningful features were extracted, and subsequently the most appropriate ones were selected using the ReliefF algorithm. An optimally tuned support vector classifier was employed to classify patients with different degrees of disability and an accuracy of 92% was achieved supported by a high area under the receiver operating characteristic score. Furthermore, selected features could provide additional information that revealed the causes of grasp limitations. This would assist physicians in planning more effective poststroke rehabilitation strategies. Results of the one-way ANOVA test conducted on actual and predicted ARAT scores of the subjects indicated remarkable prospects of the proposed glove-based method in poststroke grasp ability assessment and rehabilitation. [ABSTRACT FROM AUTHOR]

Knitted fiber strain sensor was fabricated using the electrospun Ti 3 C 2 T x @P(VDF-TrFE) wave shaped fiber film with 3D conductive network structure, which shows high sensitivity in a wide working range and rapid response. [Display omitted] Fiber-based stretchable electronics with feasibility of weaving into textiles and advantages of light-weight, long-term stability, conformability and easy integration are highly desirable for wearable electronics to realize personalized medicine, artificial intelligence and human health monitoring. Herein, a fiber strain sensor is developed based on the Ti 3 C 2 T x MXene wrapped by poly(vinylidenefluoride- co -trifluoroethylene) (P(VDF-TrFE)) polymer nanofibers prepared via electrostatic spinning. Owing to the good conductivity of Ti 3 C 2 T x and unique 3D reticular structure with wave shape, the resistance of Ti 3 C 2 T x @P(VDF-TrFE) polymer nanofibers changes under external force, thus providing remarkable strain inducted sensing performance. As-fabricated sensor exhibits high gauge factor (GF) of 108.8 in range of 45–66% strain, rapid response of 19 ms, and outstanding durability over 1600 stretching/releasing cycles. The strain sensor is able to monitor vigorous human motions (finger or wrist bending) and subtle physiological signals (blinking, pulse or voice recognition) in real-time. Moreover, a data glove is designed to connect different gestures and expressions to form an intelligent gesture-expression control system, further confirming the practicability of our Ti 3 C 2 T x @P(VDF-TrFE) strain sensors in multifunctional wearable electronic devices. [ABSTRACT FROM AUTHOR]

In this article, a real-time dynamic finger gesture recognition using a soft sensor embedded data glove is presented, which measures the metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joint angles of five fingers. In the gesture recognition field, a challenging problem is that of separating meaningful dynamic gestures from a continuous data stream. Unconscious hand motions or sudden tremors, which can easily lead to segmentation ambiguity, makes this problem difficult. Furthermore, the hand shapes and speeds of users differ when performing the same dynamic gesture, and even those made by one user often vary. To solve the problem of separating meaningful dynamic gestures, we propose a deep learning-based gesture spotting algorithm that detects the start/end of a gesture sequence in a continuous data stream. The gesture spotting algorithm takes window data and estimates a scalar value named gesture progress sequence (GPS). GPS is a quantity that represents gesture progress. Moreover, to solve the gesture variation problem, we propose a sequence simplification algorithm and a deep learning-based gesture recognition algorithm. The proposed three algorithms (gesture spotting algorithm, sequence simplification algorithm, and gesture recognition algorithm) are unified into the real-time gesture recognition system and the system was tested with 11 dynamic finger gestures in real-time. The proposed system took only 6 ms to estimate a GPS and no more than 12 ms to recognize the completed gesture in real-time.

Authenticity of interactive operation is poor when virtual reality technology adopted in mine equipment training. Data processing algorithm is optimized to reduce the number of micro-inertial sensors for data glove but results in low accuracy. According to the above problems, on the basis of introducing human hand structure and hand motion mechanics model, basic movement and motion characteristics of mine equipment training were analyzed, and hand motion model for mine equipment training of two-finger, six-link and seven-degree of freedom was put forward, so as to reduce the number of micro-inertial sensors. Position and attitude calculation algorithm of phalanges was deduced based on quaternion method. A data glove based on the hand motion model for mine equipment training was developed. Tracker is fixed at wrist of the glove to obtain absolute coordinates of forearm, micro-inertial sensors are arranged at thumb and forefinger of the glove to provide carrier coordinates of phalanges, and position and attitude of phalanges in navigation coordinate system are calculated through calculation of position and attitude of phalanges, so as to realize real-time generation of hand motion attitude in virtual scene. The test results show that the maximum error of basic movements of mine equipment training is 9 mm, which is smaller than the minimum diameter of control, and meets needs of mine equipment training operation.

Researchers have been inspired to use technology to enable people with hearing and speech impairment to communicate and engage with others around them. Sensory approach to recognition facilitates real-time and accurate recognition of signs. Thus, this study proposes a Malaysian Sign Language (MSL) recognition framework. The framework consists of three sub-modules for the recognition of static isolated signs based on data collected from a DataGlove. The first module focuses on the characteristics of signs, yielding sign recognition system requirements. The second module describes the different steps required to develop a wearable sign-capture device. The third module discusses the real-time SL recognition approach, which uses a template-matching algorithm to recognize acquired data. The final design of the DataGlove with 65 data channel fulfils the requirement identified from an analysis of MSL. The DataGlove is able to record data for all of the signs (both dynamic and static) of MSL due to the wide range of captured hand features. As a result, the recognition engine can accurately recognize complex signs. [ABSTRACT FROM AUTHOR]