Low-cost Sensor Glove with Force Feedback for Learning from Demonstrations using Probabilistic Trajectory Representations
This work addresses the need for affordable tools for robot skill acquisition through imitation learning, but it appears incremental as it builds on existing low-cost sensor glove projects.
The paper tackled the problem of building a low-cost sensor glove with force feedback for learning object manipulation skills, achieving a cost of approximately 250 EUROs and demonstrating initial results in imitation learning on the iCub humanoid robot.
Sensor gloves are popular input devices for a large variety of applications including health monitoring, control of music instruments, learning sign language, dexterous computer interfaces, and tele-operating robot hands. Many commercial products as well as low-cost open source projects have been developed. We discuss here how low-cost (approx. 250 EUROs) sensor gloves with force feedback can be build, provide an open source software interface for Matlab and present first results in learning object manipulation skills through imitation learning on the humanoid robot iCub.