High-density conformable tactile sensing glove

To understand the human intelligence involved physical manipulation of objects, detailed assessment of the states of contact between the surface of the hand and the objects is necessary. This paper proposes a tactile sensing glove based on a branch-shaped tactile sensor sheet that enables pressure measurement at 1052 points on a human hand without critically interfering with the movements of joints on the hand. The change in joint moveability by wearing the glove is evaluated in an experiment, and the result shows the effectiveness of proposed glove design. Finally, as a preliminary result, the data measured when manipulating everyday objects are shown. The glove for assessing human hand skills can contribute not only to the dexterity of robots but also to the implementation method of robotic tactile sensors.