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Project 10333: Power Sensor

Newsletter (2) November 2012

The goal of the PowerSensor project is to develop and demonstrate methods to assess the dynamic interaction of the human hand with the environment through combined movement and force sensing.

The hardware of the 2nd kinematic glove version is finished and operational (figure 1). The hardware has been built modularly such that the force sensor output can be easily integrated. The instrumentation for acquiring the signals from the fingertip capacitive 6 DoF force/moment sensorchip developed in the project has been realised and integrated with the instrumentation for the kinematic sensing. Sensor acquisition can be performed in either LabView or Matlab.

A MATLAB GUI has been developed for sensor control, filter control and visualisation of various kinematic signals. One filter per finger based on error Extended Kalman has been implemented for optimal estimation of relative orientations of each finger segment. An additional filter is used for estimation of global hand orientation. Subsequently, using measured finger segment lengths, the total forward kinematic chain is constructed.

Potential applications of the PowerSensor concept, kinematic glove and 6 DoF force/moment sensorchip will be investigated by a postdoc, who is scheduled to start in January 2013.


Newsletter (1) April 2012

Concepts and current results

The goal of this project is to develop and demonstrate methods to assess the dynamic interaction of the human hand with the environment through sensing of movement and interaction force at the interface. We have shown that power exchange can be estimated from movement measured using three-axial inertial sensors (accelerometers and angular velocity sensors) and three-axial force sensors. In addition, we have shown that, under certain conditions, the dynamic characteristics of the environment can be estimated by relating force to movement.

A PowerGlove is currently developed, with inertial movement sensing on the hand and finger segments and three-axial force sensing on the fingertips and the palm of the hand. A silicon based force sensor chip is developed for this purpose. The glove will enable the assessment of hand and finger movements, interaction forces, performance of hand tasks and dynamic interaction with the environment. Several applications will be demonstrated towards the end of the project.

The first prototype kinematic glove with partial instrumentation of index finger and thumb [1]

[1] H.G. Kortier, H.M. Schepers, P.H. Veltink, inertial sensing of hand and finger movements, Proceedings of the XII International Symposium on 3D Analysis of Human Movement, Bolo gna I, 18-20 July 2012