Kim, Jung-Kyu Choi, Woo-Seong You, Bum-Jae 2024-01-12T02:46:15Z 2024-01-12T02:46:15Z 2023-09-14 2023-06 https://pubs.kist.re.kr/handle/201004/76441 The paper proposes a calibration method to estimate calibration parameters of sensors and mechanisms simultaneously for a hand exoskeleton motion capture device that can be worn on VR user's hands. The device measures finger movements and uses the information to control the movement of avatar's hand. A dedicated calibration jig is developed covering finger workspace to collect data for calibration and Levenberg-Marquardt algorithm is adopted for optimization. Finally, it is shown 3D positional errors of fingertips are reduced to around 2 mm at a minimum. This calibration method is expected to be useful in XR applications and telepresence robotics. English IEEE Calibration of a Hand Exoskeleton Motion Capture Device using 3D Magnetic Sensors Conference 10.1109/UR57808.2023.10202472 1 20th International Conference on Ubiquitous Robots (UR), pp.603 - 608 20th International Conference on Ubiquitous Robots (UR) 603 608 US Honolulu, HI 2023-06-25 2023 20TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS, UR 001051003700075 2-s2.0-85169433928