Title

HERO Glove

Faculty Advisor

Michalson, William R.

Faculty Advisor

Onal, Cagdas Denizel

Abstract

Non-repetitive manipulation tasks that are easy for humans to perform are difficult for autonomous robots to execute. The Haptic Exoskeletal Robot Operator (HERO) Glove is a system designed for users to remotely control robot manipulators whilst providing sensory feedback to the user. This realistic haptic feedback is achieved through the use of toroidal air-filled actuators that stiffen up around the user’s fingers. Tactile sensor data is sent from the robot to the HERO Glove, where it is used to vary the pressure in the toroidal actuators to simulate the sense of touch. Curvature sensors and inertial measurement units are used to capture the glove’s pose to control the robot.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2016

Major

Mechanical Engineering

Major

Computer Science

Major

Robotics Engineering

Major

Electrical and Computer Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

Advisor Department

Mechanical Engineering

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