Development of a Low-cost Data Glove using Flex Sensors for the Robot Hand Teleoperation

摘要

This paper focuses on the control of a simulated robot hand using a data glove, which gathers information from resistors that measure the flexion of the user's fingers. The data glove used was a commercially available controller, using 5 flex sensors on each finger to collect data. Arduino Uno R3 microcontroller board was used to power the data glove which is based on the ATmega328P microcontroller. CoppeliaSim was used as a platform for simulation, with a compatible model for the hand found within the software's community. C++ is used within both the CoppeliaSim and Arduino environments, with a micro-USB connecting the two. This paper allows for real time control with the proposed data glove, which transmit the data in the form of a string of 5 different values. In the future, many adjustments and modifications could be made to allow for more precise control and eventually more degrees of freedom. A video demo for the proposed design can be seen from: https://youtu.be/w-GqzigfkXY.