Version 1
: Received: 17 February 2023 / Approved: 21 February 2023 / Online: 21 February 2023 (11:00:31 CET)
Version 2
: Received: 24 February 2023 / Approved: 27 February 2023 / Online: 27 February 2023 (10:40:17 CET)
David, J.P.; Helbig, T.; Witte, H. SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand. Bioengineering2023, 10, 324.
David, J.P.; Helbig, T.; Witte, H. SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand. Bioengineering 2023, 10, 324.
David, J.P.; Helbig, T.; Witte, H. SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand. Bioengineering2023, 10, 324.
David, J.P.; Helbig, T.; Witte, H. SenGlove—A Modular Wearable Device to Measure Kinematic Parameters of The Human Hand. Bioengineering 2023, 10, 324.
Abstract
For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilize its capability to handle and manipulate objects as well as to communicate with other humans or machines. The optimum between the number of measurement parameters, measuring accuracy as well as complexity, usability and cost of the measuring systems is hard to find. Biomechanic assumptions, the concepts of a biomechatronic system and the mechatronic design process as well as the use of commercial available components are used to develop a sensorized glove. The proposed wearable here can measure 14 of 15 angular values of a simplified hand model introduced in this paper and five contact pressures as well as inertial data of the whole hand with a degree of freedom of six. Due to the modular design and a hand size examination based on anthropological parameters, the concept of the wearable is applicable for a large variety of hand sizes and adaptable to different use cases. Validations show an RMSE for the measurement of the joint angles of 0.99 ° to 2.38° surpassing the human perception threshold and the current state of the art in science and technology for comparable systems.
Keywords
Wearable devices; Wearable sensors; Data glove; Biomechatronic design; Hand kinematics; Joint measurement; Flex sensors; Biomedical engineering
Subject
Engineering, Bioengineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
