{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,2]],"date-time":"2025-11-02T08:30:12Z","timestamp":1762072212848,"version":"build-2065373602"},"reference-count":39,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2022,10,24]],"date-time":"2022-10-24T00:00:00Z","timestamp":1666569600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Applied Sciences"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3390\/app122110752","type":"journal-article","created":{"date-parts":[[2022,10,24]],"date-time":"2022-10-24T08:19:06Z","timestamp":1666599546000},"page":"10752","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Glove Prototype for Feature Extraction Applied to Learning by Demonstration Purposes"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9573-1855","authenticated-orcid":false,"given":"Tiago","family":"Cerqueira","sequence":"first","affiliation":[{"name":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7781-9714","authenticated-orcid":false,"given":"Francisco M.","family":"Ribeiro","sequence":"additional","affiliation":[{"name":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"SYSTEC (DIGI2)\u2014Research Center for Systems and Technologies (Digital and Intelligent Industry Lab), 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7840-0333","authenticated-orcid":false,"given":"V\u00edtor H.","family":"Pinto","sequence":"additional","affiliation":[{"name":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"SYSTEC (DIGI2)\u2014Research Center for Systems and Technologies (Digital and Intelligent Industry Lab), 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7902-1207","authenticated-orcid":false,"given":"Jos\u00e9","family":"Lima","sequence":"additional","affiliation":[{"name":"CeDRI\u2014Research Centre in Digitalization and Intelligent Robotics and Laborat\u00f3rio para a Sustentabilidade e Tecnologia em Regi\u00f5es de Montanha (SusTEC), Instituto Polit\u00e9cnico de Bragan\u00e7a, Santa Apol\u00f3nia Campus, 5300-253 Bragan\u00e7a, Portugal"},{"name":"INESC Technology and Science, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7757-7308","authenticated-orcid":false,"given":"Gil","family":"Gon\u00e7alves","sequence":"additional","affiliation":[{"name":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"SYSTEC (DIGI2)\u2014Research Center for Systems and Technologies (Digital and Intelligent Industry Lab), 4200-465 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2022,10,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1383","DOI":"10.1109\/TIE.2009.2030218","article-title":"Force Control of Human\u2013Robot Interaction Using Twin Direct-Drive Motor System Based on Modal Space Design","volume":"57","author":"Mitsantisuk","year":"2010","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"623","DOI":"10.1109\/JPROC.2011.2175150","article-title":"Human-Oriented Control for Haptic Teleoperation","volume":"100","author":"Hirche","year":"2012","journal-title":"Proc. IEEE"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"4112","DOI":"10.1109\/TIE.2011.2173894","article-title":"A Haptic Interface \u201cForce Blinker 2\u201d for Navigation of the Visually Impaired","volume":"59","author":"Ando","year":"2012","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1109\/MAES.2007.365332","article-title":"Small UAV Automation Using MEMS","volume":"22","author":"Jang","year":"2007","journal-title":"IEEE Aerosp. Electron. Syst. Mag."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Fang, B., Guo, D., Sun, F., Liu, H., and Wu, Y. (2015, January 6\u20139). A robotic hand-arm teleoperation system using human arm\/hand with a novel data glove. Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China.","DOI":"10.1109\/ROBIO.2015.7419712"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"108471","DOI":"10.1016\/j.measurement.2020.108471","article-title":"Persian sign language recognition using IMU and surface EMG sensors","volume":"168","author":"Khomami","year":"2021","journal-title":"Measurement"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"115448","DOI":"10.1016\/j.eswa.2021.115448","article-title":"Smart, comfortable wearable system for recognizing Arabic Sign Language in real-time using IMUs and features-based fusion","volume":"184","author":"Qaroush","year":"2021","journal-title":"Expert Syst. Appl."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"386","DOI":"10.1109\/JSEN.2016.2628346","article-title":"A Survey on Activity Detection and Classification Using Wearable Sensors","volume":"17","author":"Cornacchia","year":"2017","journal-title":"IEEE Sens. J."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Bao, S.D., Meng, X.L., Xiao, W., and Zhang, Z.Q. (2017). Fusion of Inertial\/Magnetic Sensor Measurements and Map Information for Pedestrian Tracking. Sensors, 17.","DOI":"10.3390\/s17020340"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Diao, Z., Quan, H., Lan, L., and Han, Y. (2013, January 3\u20135). Analysis and compensation of MEMS gyroscope drift. Proceedings of the 2013 Seventh International Conference on Sensing Technology (ICST), Wellington, New Zealand.","DOI":"10.1109\/ICSensT.2013.6727722"},{"key":"ref_11","unstructured":"Akcayir, Y., and Ozkazanc, Y. (2003, January 25). Gyroscope drift estimation analysis in land navigation systems. Proceedings of the 2003 IEEE Conference on Control Applications, Istanbul, Turkey."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Patonis, P., Patias, P., Tziavos, I.N., Rossikopoulos, D., and Margaritis, K.G. (2018). A Fusion Method for Combining Low-Cost IMU\/Magnetometer Outputs for Use in Applications on Mobile Devices. Sensors, 18.","DOI":"10.3390\/s18082616"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"4917","DOI":"10.1109\/TVT.2014.2382644","article-title":"Vehicle Tracking Based on Fusion of Magnetometer and Accelerometer Sensor Measurements with Particle Filtering","volume":"64","author":"Hostettler","year":"2015","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"240","DOI":"10.1049\/iet-smt.2012.0100","article-title":"Two-step optimal filter design for the low-cost attitude and heading reference systems","volume":"7","author":"Chou","year":"2013","journal-title":"IET Sci. Meas. Technol."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Ivanov, A.V., and Zhilenkov, A.A. (February, January 29). The use of IMU MEMS-sensors for designing of motion capture system for control of robotic objects. Proceedings of the 2018 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (EIConRus), Moscow and St. Petersburg, Russia.","DOI":"10.1109\/EIConRus.2018.8317231"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Chao, H., Coopmans, C., Di, L., and Chen, Y. (2010, January 5\u20137). A comparative evaluation of low-cost IMUs for unmanned autonomous systems. Proceedings of the 2010 IEEE Conference on Multisensor Fusion and Integration, Salt Lake City, UT, USA.","DOI":"10.1109\/MFI.2010.5604460"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Ko, N.Y., and Kim, T.G. (2012, January 26\u201328). Comparison of Kalman filter and particle filter used for localization of an underwater vehicle. Proceedings of the 2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Daejeon, Korea.","DOI":"10.1109\/URAI.2012.6463013"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Lam, Q., Stamatakos, N., Woodruff, C., and Ashton, S. (2003, January 11\u201314). Gyro Modeling and Estimation of Its Random Noise Sources. Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, Austin, TX, USA.","DOI":"10.2514\/6.2003-5562"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Li, Q., Li, R., Ji, K., and Dai, W. (2015, January 1\u20133). Kalman Filter and Its Application. Proceedings of the 2015 8th International Conference on Intelligent Networks and Intelligent Systems (ICINIS), Tianjin, China.","DOI":"10.1109\/ICINIS.2015.35"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"9182","DOI":"10.3390\/s111009182","article-title":"Kalman-Filter-Based Orientation Determination Using Inertial\/Magnetic Sensors: Observability Analysis and Performance Evaluation","volume":"11","author":"Sabatini","year":"2011","journal-title":"Sensors"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"752","DOI":"10.2514\/1.G000118","article-title":"Q-Method Extended Kalman Filter","volume":"38","author":"Ainscough","year":"2015","journal-title":"J. Guid. Control. Dyn."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"7585","DOI":"10.3182\/20140824-6-ZA-1003.01173","article-title":"Experimental Comparison of Sensor Fusion Algorithms for Attitude Estimation","volume":"47","author":"Cavallo","year":"2014","journal-title":"IFAC Proc. Vol."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"6008","DOI":"10.1109\/JSEN.2016.2574124","article-title":"Quaternion-Based Complementary Filter for Attitude Determination of a Smartphone","volume":"16","author":"Lovell","year":"2016","journal-title":"IEEE Sens. J."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"19302","DOI":"10.3390\/s150819302","article-title":"Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs","volume":"15","author":"Valenti","year":"2015","journal-title":"Sensors"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"467","DOI":"10.1109\/TIM.2015.2498998","article-title":"A Linear Kalman Filter for MARG Orientation Estimation Using the Algebraic Quaternion Algorithm","volume":"65","author":"Valenti","year":"2016","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"647","DOI":"10.1515\/teme-2019-0158","article-title":"MAV quaternion attitude determination for accelerometer-magnetometer combination: Internal analysis","volume":"87","author":"Wu","year":"2020","journal-title":"Tm-Tech. Mess."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"8787236","DOI":"10.1155\/2018\/8787236","article-title":"Simplified Attitude Determination Algorithm Using Accelerometer and Magnetometer with Extremely Low Execution Time","volume":"2018","author":"Liu","year":"2018","journal-title":"J. Sens."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"375","DOI":"10.1109\/TCE.2018.2859625","article-title":"A Super Fast Attitude Determination Algorithm for Consumer-Level Accelerometer and Magnetometer","volume":"64","author":"Wu","year":"2018","journal-title":"IEEE Trans. Consum. Electron."},{"key":"ref_29","unstructured":"Madgwick, S., Vaidyanathan, R., and Harrison, A. (2010). An Efficient Orientation Filter for Inertial and Inertial\/Magnetic Sensor Arrays, Report x-io and University of Bristol."},{"key":"ref_30","unstructured":"Mahony, R., Hamel, T., and Pflimlin, J.-M. (2005, January 12\u201315). Complementary filter design on the special orthogonal group SO(3). Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005, Seville, Spain."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"6891","DOI":"10.3390\/s140406891","article-title":"IMU-Based Joint Angle Measurement for Gait Analysis","volume":"14","author":"Seel","year":"2014","journal-title":"Sensors"},{"key":"ref_32","first-page":"75","article-title":"Rehabilitation glove device design","volume":"3","author":"Turan","year":"2018","journal-title":"J. Eng. Technol. Appl. Sci."},{"key":"ref_33","first-page":"87","article-title":"Multi-Sensor Glove Design and Bio-Signal Data Collection","volume":"3","year":"2020","journal-title":"Nat. Appl. Sci. J."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"487","DOI":"10.1113\/jphysiol.1994.sp020312","article-title":"Limited independent flexion of the thumb and fingers in human subjects","volume":"479","author":"Kilbreath","year":"1994","journal-title":"J. Physiol."},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Moreira, A.H., Queir\u00f3s, S., Fonseca, J., Rodrigues, P.L., Rodrigues, N.F., and Vilaca, J.L. (2014, January 14\u201316). Real-time hand tracking for rehabilitation and character animation. Proceedings of the 2014 IEEE 3nd International Conference on Serious Games and Applications for Health (SeGAH), Rio de Janeiro, Brazil.","DOI":"10.1109\/SeGAH.2014.7067086"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"3561","DOI":"10.1109\/JSEN.2020.3026895","article-title":"Robust Error-State Kalman Filter for Estimating IMU Orientation","volume":"21","author":"Vitali","year":"2021","journal-title":"IEEE Sens. J."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Campa, R., and de la Torre, H. (2009, January 10\u201312). Pose control of robot manipulators using different orientation representations: A comparative review. Proceedings of the 2009 American Control Conference, St. Louis, MO, USA.","DOI":"10.1109\/ACC.2009.5160254"},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Kamalakannan, C., Suresh, L.P., Dash, S.S., and Panigrahi, B.K. (2015). Investigation and Control of Principal Axes of Aircraft Using Robust Method. Power Electronics and Renewable Energy Systems, Springer.","DOI":"10.1007\/978-81-322-2119-7"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1007\/s11044-018-9620-0","article-title":"Perspectives on Euler angle singularities, gimbal lock, and the orthogonality of applied forces and applied moments","volume":"44","author":"Hemingway","year":"2018","journal-title":"Multibody Syst. Dyn."}],"container-title":["Applied Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2076-3417\/12\/21\/10752\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:01:36Z","timestamp":1760144496000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2076-3417\/12\/21\/10752"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,24]]},"references-count":39,"journal-issue":{"issue":"21","published-online":{"date-parts":[[2022,11]]}},"alternative-id":["app122110752"],"URL":"https:\/\/doi.org\/10.3390\/app122110752","relation":{},"ISSN":["2076-3417"],"issn-type":[{"type":"electronic","value":"2076-3417"}],"subject":[],"published":{"date-parts":[[2022,10,24]]}}}