Mimic Glove: Investigate IMU for finger position feedback vs potentiometers

[davidbdias96]

No description provided.

[kammce]

As discussed yesterday, this should work find except in the case where your hand is vertical, meaning that the palm of your hand is orthogonal to the earth. In this case the vector of force points directly down, but you can move your fingers and not see a change in the force vector.

Potential solution

This can be solved by using the gyroscope feature of IMUs (radial velocity) but this can drift over time. This would require that the pilot be aware of this issue and make sure to keep their hand out of 90deg from earth as much as possible. This will require further testing with the claw to see how bad using the gyroscope is in this case. Gyroscopes, when calibrated properly can be extremely precise, provided that they are sampled extremely quickly to integrate radial velocity into radial position.

Regardless if this makes the design of the glove far easier to work with, this is something that we should absolutely look into.