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A Multi-Modal Sensing Glove for Human Manual-Interaction Studies

Research Center “E. Piaggio”, University of Pisa, Largo Lucio Lazzarino 1, Pisa, Italy
Advanced Robotics Department, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy
Cluster of Excellence Cognitive Interaction Technology, Bielefeld University, Inspiration 1, 33619 Bielefeld, Germany
Information Engineering Department, University of Pisa, via G. Caruso 16, 56122 Pisa, Italy
Authors to whom correspondence should be addressed.
Academic Editors: Enzo Pasquale Scilingo and Gaetano Valenza
Electronics 2016, 5(3), 42;
Received: 27 May 2016 / Revised: 13 July 2016 / Accepted: 15 July 2016 / Published: 20 July 2016
PDF [20593 KB, uploaded 22 July 2016]


We present an integrated sensing glove that combines two of the most visionary wearable sensing technologies to provide both hand posture sensing and tactile pressure sensing in a unique, lightweight, and stretchable device. Namely, hand posture reconstruction employs Knitted Piezoresistive Fabrics that allows us to measure bending. From only five of these sensors (one for each finger) the full hand pose of a 19 degrees of freedom (DOF) hand model is reconstructed leveraging optimal sensor placement and estimation techniques. To this end, we exploit a-priori information of synergistic coordination patterns in grasping tasks. Tactile sensing employs a piezoresistive fabric allowing us to measure normal forces in more than 50 taxels spread over the palmar surface of the glove. We describe both sensing technologies, report on the software integration of both modalities, and describe a preliminary evaluation experiment analyzing hand postures and force patterns during grasping. Results of the reconstruction are promising and encourage us to push further our approach with potential applications in neuroscience, virtual reality, robotics and tele-operation. View Full-Text
Keywords: hand pose sensing; tactile/force sensing; wearable sensing; optimal design; human hand synergies hand pose sensing; tactile/force sensing; wearable sensing; optimal design; human hand synergies

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Bianchi, M.; Haschke, R.; Büscher, G.; Ciotti, S.; Carbonaro, N.; Tognetti, A. A Multi-Modal Sensing Glove for Human Manual-Interaction Studies. Electronics 2016, 5, 42.

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