Lightweight and Wearable Mechanical Tracker for Upper Limbs Designed for Telemanipulation Tasks

EasyChair Preprint 15265

Abstract

This paper introduces a lightweight, wearable device for telemanipulation tasks. Combined with the previously developed Mechanical Hand Tracker (MHT), it enables tracking the position and orientation of each fingertip relative to the torso without relying on grounded systems like calibrated cameras, allowing the user to move freely. The device overcomes common issues associated with data gloves and computer vision methods. We propose a design methodology for a linkage mechanism that maintains full mobility of the upper limbs and fingers while adapting to various body sizes. Teleoperation tests in a pick-and-place scenario were conducted to demonstrate its functionality.

Keyphrases: Exoskeleton, Mechanical Tracker, Teleoperation, tracking system

@booklet{EasyChair:15265,
  author    = {Marcello Palagi and Giancarlo Santamato and Gianluca Rinaldi and Simone Marcheschi and Daniele Leonardis and Massimiliano Solazzi and Antonio Frisoli and Domenico Chiaradia},
  title     = {Lightweight and Wearable Mechanical Tracker for Upper Limbs Designed for Telemanipulation Tasks},
  howpublished = {EasyChair Preprint 15265},
  year      = {EasyChair, 2024}}