01722nas a2200181   4500008004100000245006900041210006500110490000700175520120200182653001201384100001601396700001601412700001701428700001501445700001801460700001701478856004501495       2016                        eng d00aA Multi-Modal Sensing Glove for Human Manual-Interaction Studies0 aMultiModal Sensing Glove for Human ManualInteraction Studies0 v 53 a<p class="rtejustify">We present an integrated sensing glove that combines two of the most visionary wearable sensing technologies to provide both hand posture sensing and tactile pressure sensing in a unique, lightweight, and stretchable device. Namely, hand posture reconstruction employs Knitted Piezoresistive Fabrics that allows us to measure bending. From only five of these sensors (one for each finger) the full hand pose of a 19 degrees of freedom (DOF) hand model is reconstructed leveraging optimal sensor placement and estimation techniques. To this end, we exploit a-priori information of synergistic coordination patterns in grasping tasks. Tactile sensing employs a piezoresistive fabric allowing us to measure normal forces in more than 50 taxels spread over the palmar surface of the glove. We describe both sensing technologies, report on the software integration of both modalities, and describe a preliminary evaluation experiment analyzing hand postures and force patterns during grasping. Results of the reconstruction are promising and encourage us to push further our approach with potential applications in neuroscience, virtual reality, robotics and tele-operation.</p>
10aHaptics1 aBianchi, M.1 aHaschke, R.1 aBüscher, G.1 aCiotti, S.1 aCarbonaro, N.1 aTognetti, A.  uhttp://www.mdpi.com/2079-9292/5/3/42/pdf