A Wearable Device to Control Robot Hands

Journal of Advanced Technology Research, Vol. 6, No. 2, pp. 6-9, Dec. 2021
10.11111/JATR.2021.6.2.006, Full Text:
Keywords: wearable device, Robot hand, Control
Abstract

We present a study on robot hand control by a wearable device with IMU units. The glove type wearable device has 9 IMU units include accelerometer and gyroscope for whole axes which are located on middle phalanges and proximal phalanges of each finger. They are intended to have motional information of each finger like pitch and yaw motion. The home-made robot hand have 14 small motors to make pitch motion for whole fingers and 5 additional ones to make yaw motion of each finger. From its demonstration, we found that the motions of the robot hand generally well follows the motion of the glove type wearable device. However, there is a room to improve in precision in the motion while minimizing IMU sensor errors.


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Cite this article
[IEEE Style]
J. Lee, J. Tak, S. Hong and B. Kim, "A Wearable Device to Control Robot Hands," Journal of Advanced Technology Research, vol. 6, no. 2, pp. 6-9, 2021. DOI: 10.11111/JATR.2021.6.2.006.

[ACM Style]
Joongkyung Lee, Jinhyung Tak, Seokpil Hong, and Byungki Kim. 2021. A Wearable Device to Control Robot Hands. Journal of Advanced Technology Research, 6, 2, (2021), 6-9. DOI: 10.11111/JATR.2021.6.2.006.