Low-cost Sensor Glove with Force Feedback for Learning from Demonstrations using Probabilistic Trajectory Representations

Elmar Rueckert; Rudolf Lioutikov; Roberto Calandra; Marius Schmidt; Philipp Beckerle; Jan Peters

Low-cost Sensor Glove with Force Feedback for Learning from Demonstrations using Probabilistic Trajectory Representations

Robotics 2015-10-13 v1

Authors: Elmar Rueckert , Rudolf Lioutikov , Roberto Calandra , Marius Schmidt , Philipp Beckerle , Jan Peters

Abstract

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.

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@article{arxiv.1510.03253,
  title  = {Low-cost Sensor Glove with Force Feedback for Learning from Demonstrations using Probabilistic Trajectory Representations},
  author = {Elmar Rueckert and Rudolf Lioutikov and Roberto Calandra and Marius Schmidt and Philipp Beckerle and Jan Peters},
  journal= {arXiv preprint arXiv:1510.03253},
  year   = {2015}
}

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3 pages, 3 figures. Workshop paper of the International Conference on Robotics and Automation (ICRA 2015)

Low-cost Sensor Glove with Force Feedback for Learning from Demonstrations using Probabilistic Trajectory Representations

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