Stretchable glove for accurate and robust hand pose reconstruction based on comprehensive motion data.

We propose a compact wearable glove capable of estimating both the finger bone lengths and the joint angles of the wearer with a simple stretch-based sensing mechanism. The soft sensing glove is designed to easily stretch and to be one-size-fits-all, both measuring the size of the hand and estimating the finger joint motions of the thumb, index, and middle fingers. The system was calibrated and evaluated using comprehensive hand motion data that reflect the extensive range of natural human hand motions and various anatomical structures. The data were collected with a custom motion-capture setup and transformed into the joint angles through our post-processing method. The glove system is capable of reconstructing arbitrary and even unconventional hand poses with accuracy and robustness, confirmed by evaluations on the estimation of bone lengths (mean error: 2.1 mm), joint angles (mean error: 4.16°), and fingertip positions (mean 3D error: 4.02 mm), and on overall hand pose reconstructions in various applications. The proposed glove allows us to take advantage of the dexterity of the human hand with potential applications, including but not limited to teleoperation of anthropomorphic robot hands or surgical robots, virtual and augmented reality, and collection of human motion data.

Triboresistive Touch Sensing: Grid-Free Touch-Point Recognition Based on Monolayered Ionic Power Generators.

Recent growing pursuit of skin-mountable devices has been impeded by the complicated structures of most sensing systems, containing electrode grids, stacked multilayers, and even external power sources. Here, a type of touch sensing, termed "triboresistive touch sensing", is introduced for gridless touch recognition based on monolayered ionic power generators. A homogeneous monolayer, i.e., ionic poly(dimethylsiloxane) (PDMS), generates electricity based on the electric field generated by touch. Voltages generated at each corner of the ionic PDMS rely on resistance between touch points and each corner, ensuring recognition of the touch positions without the need for electrode grid layers and external power sources. With notable advantages of high transparency (96.5%), stretchability (539.1%), and resilience (99.0%) of the ionic PDMS, epidermal triboresistive sensing is demonstrated to express touch position and readily play a musical instrument. A gridless system of triboresistive sensing allows rearrangement of the touch sections according to a given situation without any physical modification, and thus easily completes consecutive missions of controlling position, orientation, and gripping functions of a robot.