Glove prototype for feature extraction applied to learning by demonstration purposes

This article focuses on a sensorial glove prototype capable of acquiring hand motion and estimating its pose. The presented solution features twelve inertial measurement units (IMUs) to track hand orientation. The sensors are attached to a glove to decrease the project cost. The system also focuses on sensor fusion algorithms for the IMUs and further implementations, presenting the algebraic quaternion algorithm (AQUA), used because of its modularity and intuitive implementation. An adaptation of a human hand model is proposed, explaining its advantages and its limitations. Considering that the calibration is a very important process in gyroscope performance, the online and offline calibration data was analyzed, pointing out its challenges and improvements. To better visualize the model and sensors a simulation was conducted in Unity.