Calibration of a Hand Exoskeleton Motion Capture Device using 3D Magnetic Sensors

Abstract

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.