Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors
Published in The 5th Modeling, Estimation and Control Conference (MECC 2025), 2025
This paper presents an analysis of the precision of fingertip location for a 7 degrees of freedom (DOF) pneumatic haptic glove developed at SMU for 3D elastographic imaging virtual palpation.The 2D workspace for each finger and the 3D workspace for the glove are calculated from the actuator positions using closed-form expressions based on design geometry. The fingertip locations are measured using a 5-camera OptiTrack motion capture, and the results are compared with the fingertip positions obtained using the linear sensors integrated in the design of each finger joint.This work is an essential step in the development of a virtual palpation system of 3D elastographic medical images.
Recommended citation: Yacoub, A., Richer, E., & Hurmuzlu, Y. (2025). Comparative Analysis of Fingertip Location for the SMU Haptic Glove by OptiTrack Cameras and Embedded Position Sensors. IFAC-PapersOnLine, 59(30), 203-208.
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