2 research outputs found
A Low-cost, Wearable Opto-inertial 6 DOF Hand Pose Tracking System for VR
In this paper, a low cost, wearable six Degree of Freedom (6-DOF) hand pose tracking
system is proposed for Virtual Reality applications. It is designed for use with an integrated hand
exoskeleton system for kinesthetic haptic feedback. The tracking system consists of an Infrared (IR)
based optical tracker with low cost mono-camera and inertial and magnetic measurement unit. Image
processing is done on LabVIEW software to extract the 3-DOF position from two IR targets and
Magdwick filter has been implemented on Mbed LPC1768 board to obtain orientation data. Six DOF
hand tracking outputs filtered and synchronized on LabVIEW software are then sent to the Unity
Virtual environment via User Datagram Protocol (UDP) stream. Experimental results show that this
low cost and compact system has a comparable performance of minimal Jitter with position and
orientation Root Mean Square Error (RMSE) of less than 0.2 mm and 0.15 degrees, respectively. Total
Latency of the system is also less than 40 ms
A Novel Sensor for Bio-mimetic Finger
We have designed and integrated a novel fiber-optic based senor for force discrimination on robotic hand. The proposed system has the following characteristics:
The sensor is free of any metallic & electrical components and very robust vs. electromagnetic noise and disturbances.
Calibration of the sensor has proven good linear behavior
The transducer is integrated within the Distal Interphalangeal (DIP) link of a bio-mimetic robotic finge