Measuring system for grasping

A measuring system for grasping function is developed. The purpose of this system is to measure and analyze the grasping function of human hands. In this report, the structure of the system is introduced. The sensor glove which is the main device of the system, developed by the authors to measure the operation force distribution in hands, is also explained in detail. Using this system, the operation force distribution, joint angles of hands and fingers, wrist position and direction in the operation space and the view of the operation can be simultaneously measured and recorded in real time. The system consists of 5 subsystems: 1) the sensor glove for operation force distribution; 2) the Cyber Glove (by Virtual Technologies) for 18 joint angles in hand; 3) a magnetic sensor to detect the wrist position and direction; 4) a video equipment for the observation of the operation view; and 5) a personal computer to control the system.