A Sensor Glove Based on Inertial Measurement Unit for Robot Teleoperetion

With the development of smart sensing and the aging trend of the society, telerobot is playing an increasingly important role in the field of homecare service. In this article, we present the design, implementation, and evaluation of a wearable sensor glove. The sensor glove is based on inertial measurement units (IMUs) with 9 axes. We put 6 nodes on the glove and calculate the quaternions of all the orientations of the knuckles with fusion algorithm and interpolation algorithm. The main goal of this research is to develop a human-robot interface in order to help to control the telerobot remotely. This paper mainly deals with three issues: 1) designing a simple and extensible motion capture system architecture, 2) choosing a simple but effective fusion algorithm for motion capture, 3) performance evaluation of the sensor glove based on IMUs. The experimental results suggest that the sensor glove we designed can meet the requirements of speed and accuracy. Furthermore, the architecture we designed can not only be used on the sensor glove, it can also be extended to up to 128 nodes to capture the motion of the hole body.