High-density Conformable Tactile Sensing Glove

• Sagisaka Takashi

  Interfaculty Initiative in Information Studies / Graduate School of Interdisciplinary Information Studies, The Univ. of Tokyo

• Ohmura Yoshiyuki

  Department of Mechano-Informatics, Graduate School of Information Science and Technology, The Univ. of Tokyo

• Nagakubo Akihiko

  Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Techonology

• Kuniyoshi Yasuo

  Interfaculty Initiative in Information Studies / Graduate School of Interdisciplinary Information Studies, The Univ. of Tokyo Department of Mechano-Informatics, Graduate School of Information Science and Technology, The Univ. of Tokyo

• Ozaki Kazuyuki

  Product Development Planning Office, NIPPON MEKTRON, LTD.

Bibliographic Information

Other Title

• 皮膚の変形に追従する高密度触覚センサグローブ
• ヒフ ノ ヘンケイ ニ ツイジュウ スル コウミツド ショッカク センサグローブ

Abstract

To understand the principles of human hand dexterity, investigation of dynamic contact control by the hand is essential. This paper proposes a novel high-density tactile sensing glove lined with sensor sheets, which were flexible printed circuit boards embedded with 1-[mm]-sized pressure sensitive elements at 1,052 points per hand. The sensor sheets were tree-shaped, especially designed to accommodate deformations of the skin in order to minimize interference of the wearer's natural finger movements. The design also permitted seamless coverage and allowed the tactile sensor elements to be distributed at a high density over the entire inner surface of the hand. In our experiment, we found that our tactile sensor sheets reduced interference of joint movements by one-third compared to existing tactile sensors. Moreover, we verified that our glove makes qualitatively consistent measurements of pressure distributions over the surface of hand for each of everyday objects handled by the wearer despite large deformations in the skin.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 30 (7), 711-717, 2012

  The Robotics Society of Japan

Keywords

• Manual Skill Analysis
• FPC
• Distributed Pressure Sensors

Details

• CRID: 1390001204728248576
• NII Article ID: 10031028447
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.30.711
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 023969968
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I023969968
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed