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Bae, Joonbum
Bio-Robotics and Control (BiRC) Lab
Research Interests
  • Design and control of physical human-robot interaction systems
  • Soft robotics
  • Intelligent interaction algorithms for virtual reality, tele-operation and rehabilitation
  • Bio-inspired robotics for improved mobility

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A Three-dimensional Finger Motion Measurement System of a Thumb and an Index Finger Without a Calibration Process

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Title
A Three-dimensional Finger Motion Measurement System of a Thumb and an Index Finger Without a Calibration Process
Author
Park, YeongyuBae, Joonbum
Issue Date
2020-02
Publisher
MDPI
Citation
SENSORS, v.20, no.3, pp.756
Abstract
Various wearable systems have been investigated to measure hand motion, but some challenges remain. Many systems require a calibration process to map sensor signals to actual finger joint angles by the principle of measuring the length change of the finger, or bending sensors. Also, few studies have investigated how to measure thumb motion accurately using the wearable systems. This paper proposes an exoskeleton system with linear Hall sensors to measure three-dimensional hand motion without a calibration process. The calibration process is avoided by measuring finger joint angles through an absolute rotation measurement. A new wearing method with lower parts underneath the hand joints and rubber bands is proposed to fix the structure to the hand and adapt it for various hand sizes. As the thumb has a complex biomechanical feature at carpometacarpal (CMC) joint, a new measuring method of the CMC joint is proposed to directly calculate the orientation of the metacarpal. The prototype of the thumb and index finger was manufactured, and the performance was verified experimentally by using an optical motion capture system.
URI
https://scholarworks.unist.ac.kr/handle/201301/31125
URL
https://www.mdpi.com/1424-8220/20/3/756
DOI
10.3390/s20030756
ISSN
1424-8220
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