A high-accuracy, low-budget Sensor Glove for Trajectory Model Learning

摘要

Sensor gloves are gaining importance in tracking hand and finger movements in virtual reality applications as well as in scientific research. They introduce an unrestricted way of capturing motion without the dependence on direct line of sight as for visual tracking systems. With such sensor gloves, data of complex motion tasks can be recorded and used for modeling probabilistic trajectories or teleoperation of robotic arms. While a multitude of sensor glove designs relying on different functional principles exist, these approaches require either sensitive calibration and sensor fusion methods or complex manufacturing processes. In this paper, we propose a low-budget, yet accurate sensor glove system that uses flex sensors for fast and efficient motion tracking. We evaluate the performance of our sensor glove, such as accuracy and latency, and demonstrate the functionality by recording motion data for learning probabilistic movement models.