Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Low-Cost Data Glove for Robotic Hand-Forearm Teleoperation Systems Applications
Submission Author:
Lukas Gabriel Dias Gomes , MG
Co-Authors:
Lukas Gabriel Dias Gomes, Adriel Luiz Marques, Laura Ribeiro
Presenter: Lukas Gabriel Dias Gomes
doi://10.26678/ABCM.COBEM2021.COB2021-0557
Abstract
Data glove is a device widely used in robotic teleoperation systems and in virtual or augmented reality applications. In these contexts, the correct sensing of movements of the human body is important for the management of activities in a precise and safe way. This project aims to present the development of a prototype of a low-cost and low consumption teleoperation system, capable of making human movements acquisitions from the hand and forearm of a human operator, which can be adapted for different applications. The proposed device consists of three main elements: mechanical structure printed in 3D, sensing system, and teleoperation system. The 3D structure is designed to mold human members (hand and forearm), ensuring mechanical stability and comfort to the user. The sensing of the equipment, which has the function of promoting the acquisition of data on the movement of the hand and forearm, it's composed of an inertial sensor fixed in hand, infrared sensors on flexible structures in the fingers, and a mechanical structure with a resistive sensor that interconnects the joint of the hand with the forearm. Finally, the teleoperation system developed with low consumption hardware, which processes the data from the sensors and transmits them through wireless communication (Radio Frequency). The data glove presented in this work can be applied in different scenarios in which obtaining data on the movement of the human hand and forearm is necessary. In order to exemplify the possible applications, it is presented a remote operation of a robotic arm with 3 degrees of freedom running pick-and-place tasks, commanded by movements of a human operator. With the application of the proposed project, it is expected to develop a low-cost data glove, easy operation, and high possibility of customization according to the user's needs. Such that thus, the presented prototype can be effectively associated with robotic teleoperation and virtual or augmented reality applications.
Keywords
Data glove, 3D structure, wireless communication, teleoperation, robotic arm
