Sensor Glove Based on Novel Inertial Sensor Fusion Control Algorithm for 3-D Real-Time Hand Gestures Measurements

In recent years, there has been an increasing interest in hand movements in various application fields. However, the human hand is too dexterous and only has limited space. Developing a proper method to monitor and capture hand motion is meaningful. Conventionally, an optical measurement method is widely used to capture hand gestures. Nevertheless, this method is costly and has the problem of line-of-sight shielding. In this paper, a sensor fusion algorithm is proposed to calculate a more accurate result by calculating acceleration, magnetic field strength, and angular speed from the inertial measurement unit (IMU). The core concept of this algorithm is based on the idea of feedback control. To validate the performance, the active rotary platform is set up to compare the measured results to the references directly. Most of the error results are less than 3 degrees, and the standard deviations are less than 1 degrees. The measurement results ensure the feasibility of the inertial measurement method with the sensor fusion algorithm proposed in this paper.