SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand
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 a...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Bioengineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2306-5354/10/3/324 |
| _version_ | 1797613417746399232 |
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| author | Jonas Paul David Thomas Helbig Hartmut Witte |
| author_facet | Jonas Paul David Thomas Helbig Hartmut Witte |
| author_sort | Jonas Paul David |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-11T06:55:33Z |
| format | Article |
| id | doaj.art-79bac5528a854a84b34611cbf1acf293 |
| institution | Directory Open Access Journal |
| issn | 2306-5354 |
| language | English |
| last_indexed | 2024-03-11T06:55:33Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Bioengineering |
| spelling | doaj.art-79bac5528a854a84b34611cbf1acf2932023-11-17T09:39:42ZengMDPI AGBioengineering2306-53542023-03-0110332410.3390/bioengineering10030324SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human HandJonas Paul David0Thomas Helbig1Hartmut Witte2Fachgebiet Biomechatronik, Institut für Mechatronische Systemintegration, Fakultät für Maschinenbau, Technische Universität Ilmenau, 98693 Ilmenau, GermanyFachgebiet Biomechatronik, Institut für Mechatronische Systemintegration, Fakultät für Maschinenbau, Technische Universität Ilmenau, 98693 Ilmenau, GermanyFachgebiet Biomechatronik, Institut für Mechatronische Systemintegration, Fakultät für Maschinenbau, Technische Universität Ilmenau, 98693 Ilmenau, GermanyFor 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.https://www.mdpi.com/2306-5354/10/3/324wearable deviceswearable sensorsdata glovebiomechatronic designbiomedical engineeringhand kinematics |
| spellingShingle | Jonas Paul David Thomas Helbig Hartmut Witte SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand Bioengineering wearable devices wearable sensors data glove biomechatronic design biomedical engineering hand kinematics |
| title | SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand |
| title_full | SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand |
| title_fullStr | SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand |
| title_full_unstemmed | SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand |
| title_short | SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand |
| title_sort | senglove a modular wearable device to measure kinematic parameters of the human hand |
| topic | wearable devices wearable sensors data glove biomechatronic design biomedical engineering hand kinematics |
| url | https://www.mdpi.com/2306-5354/10/3/324 |
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