Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration
We present a thin and elastic tactile sensor glove for teaching dexterous manipulation tasks to robots through human demonstration. The entire glove, including the sensor cells, base layer, and electrical connections, is made from soft and stretchable silicone rubber, adapting to deformations under...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/24/6/1912 |
| _version_ | 1797239318367961088 |
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| author | Philipp Ruppel Jianwei Zhang |
| author_facet | Philipp Ruppel Jianwei Zhang |
| author_sort | Philipp Ruppel |
| collection | DOAJ |
| description | We present a thin and elastic tactile sensor glove for teaching dexterous manipulation tasks to robots through human demonstration. The entire glove, including the sensor cells, base layer, and electrical connections, is made from soft and stretchable silicone rubber, adapting to deformations under bending and contact while preserving human dexterity. We develop a glove design with five fingers and a palm sensor, revise material formulations for reduced thickness, faster processing and lower cost, adapt manufacturing processes for reduced layer thickness, and design readout electronics for improved sensitivity and battery operation. We further address integration with a multi-camera system and motion reconstruction, wireless communication, and data processing to obtain multimodal reconstructions of human manipulation skills. |
| first_indexed | 2024-04-24T17:49:38Z |
| format | Article |
| id | doaj.art-99bc1be0d8f94ef7a2382e4e465771c3 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-24T17:49:38Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-99bc1be0d8f94ef7a2382e4e465771c32024-03-27T14:04:07ZengMDPI AGSensors1424-82202024-03-01246191210.3390/s24061912Elastic Tactile Sensor Glove for Dexterous Teaching by DemonstrationPhilipp Ruppel0Jianwei Zhang1Department of Informatics, Universität Hamburg, 22527 Hamburg, GermanyDepartment of Informatics, Universität Hamburg, 22527 Hamburg, GermanyWe present a thin and elastic tactile sensor glove for teaching dexterous manipulation tasks to robots through human demonstration. The entire glove, including the sensor cells, base layer, and electrical connections, is made from soft and stretchable silicone rubber, adapting to deformations under bending and contact while preserving human dexterity. We develop a glove design with five fingers and a palm sensor, revise material formulations for reduced thickness, faster processing and lower cost, adapt manufacturing processes for reduced layer thickness, and design readout electronics for improved sensitivity and battery operation. We further address integration with a multi-camera system and motion reconstruction, wireless communication, and data processing to obtain multimodal reconstructions of human manipulation skills.https://www.mdpi.com/1424-8220/24/6/1912tactile sensingsensor glovesstretchable sensorsstretchable electronicsteaching by demonstrationimitation learning |
| spellingShingle | Philipp Ruppel Jianwei Zhang Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration Sensors tactile sensing sensor gloves stretchable sensors stretchable electronics teaching by demonstration imitation learning |
| title | Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration |
| title_full | Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration |
| title_fullStr | Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration |
| title_full_unstemmed | Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration |
| title_short | Elastic Tactile Sensor Glove for Dexterous Teaching by Demonstration |
| title_sort | elastic tactile sensor glove for dexterous teaching by demonstration |
| topic | tactile sensing sensor gloves stretchable sensors stretchable electronics teaching by demonstration imitation learning |
| url | https://www.mdpi.com/1424-8220/24/6/1912 |
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