Universal Wearable Haptic Glove for Force Measurement During Object Manipulation

Most robotic hands are equipped with relatively simple force sensors to detect contact with manipulated objects. Very often, they are only attached to the finger’s tips and are not sufficient to measure the interaction forces for all shapes of objects and grasp types. The goal of this research is to develop a sensory glove named PUT-Tactile-Glove that can be used on the existing robot’s hands to enhance the sensing capabilities of the robot. The proposed sensory glove can measure forces acting on an object held in the hand. The robotic glove can also be used on the human hand to collect reference data for training robots to interact with the objects. The paper presents the mechanical design of the glove, the results of the sensor’s calibration, the software system for ROS2, and the results of the experiments performed with the glove while grasping various objects.