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This paper presents a multimodal tactile glove for firefighters that combines pressure sensing and teleoperation functionalities. The pressure sensing modality uses a 3-axis tactile sensor array to capture the contact surface profile, enabling precise object manipulation despite the insensitivity of the thick protective glove. The teleoperation modality utilizes custom silver nanowire-based bend sensors to detect hand gestures and control mobile robots. The multimodal tactile sensing system was embedded in a thermal-protected firefighter’s glove and evaluated through teleoperation and grasping tasks, serving as preliminary work for user experience research. The ultimate goal is to enable firefighters to navigate robots into hazardous areas in limited sight vision scenarios and recognize lightweight objects with tactile feedback in the thick glove where tactile feedback from the hand is insensitive.

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Multimodal Wearable Tactile System for Augmented Reality and Mobile Robot Teleoperation Applications

  • 会议论文

  • 发表日期：

    2025年

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  • Yermakhan Kassym,
  • Madina Yergibay,
  • Soibkhon Khajikhanov,
  • Togzhan Syrymova,
  • Temirlan Kaiyrbay,
  • Ilyas Umurbekov,
  • Kamila Spanova,
  • Zhanat Kappassov

摘要

This paper presents a multimodal tactile glove for firefighters that combines pressure sensing and teleoperation functionalities. The pressure sensing modality uses a 3-axis tactile sensor array to capture the contact surface profile, enabling precise object manipulation despite the insensitivity of the thick protective glove. The teleoperation modality utilizes custom silver nanowire-based bend sensors to detect hand gestures and control mobile robots. The multimodal tactile sensing system was embedded in a thermal-protected firefighter’s glove and evaluated through teleoperation and grasping tasks, serving as preliminary work for user experience research. The ultimate goal is to enable firefighters to navigate robots into hazardous areas in limited sight vision scenarios and recognize lightweight objects with tactile feedback in the thick glove where tactile feedback from the hand is insensitive.