Many diseases, such as stroke, arthritis, and spinal cord injury, can cause severe hand impairment. Treatment options for these patients are limited by expensive hand rehabilitation devices and dull treatment procedures. In this study, we present an inexpensive soft robotic glove for hand rehabilitation in virtual reality (VR). Fifteen inertial measurement units are placed on the glove for finger motion tracking, and a motor—tendon actuation system is mounted onto the arm and exerts forces on fingertips via finger-anchoring points, providing force feedback to fingers so that the users can feel the force of a virtual object. A static threshold correction and complementary filter are used to calculate the finger attitude angles, hence computing the postures of five fingers simultaneously. Both static and dynamic tests are performed to validate the accuracy of the finger-motion-tracking algorithm. A field-oriented-control-based angular closed-loop torque control algorithm is adopted to control the force applied to the fingers. It is found that each motor can provide a maximum force of 3.14 N within the tested current limit. Finally, we present an application of the haptic glove in a Unity-based VR interface to provide the operator with haptic feedback while squeezing a soft virtual ball.

Soft robotic gloves have attracted significant interest in hand rehabilitation in the past decade. However, current solutions are still heavy and lack finger-state monitoring and versatile treatment options. To address this, we present a lightweight soft robotic glove actuated by twisted string actuators (TSA) that provides whole-hand finger motion tracking. We have developed a virtual reality environment for hand rehabilitation training, allowing users to interact with various virtual objects. Fifteen small inertial measurement units are placed on the glove to predict finger joint angles and track whole-hand finger motion. We performed TSA experiments to identify design and control rules, by understanding how their response varies with input load and voltages. Grasping experiments were conducted to determine the grasping force and range of motion. Finally, we showcase an application of the rehabilitation glove in a Unity-based VR interface, which can actuate the operator’s fingers to grasp different virtual objects.

In this paper, we introduce a large-scale food images dataset namely AIFood, which is constructed to aim ingredient recognition in food image research. AIFood dataset includes 24 categories and totally 372,095 food images around the world. We collect food images from eight existing food image datasets and a food website. The food images are relabeled using 24 categories. We preliminarily label each image using existing food information, e.g. dish name or ingredient information. Next, we manually check food images to find out undiscovered ingredients and relabel them. Every image can be labeled more than one category. In addition, food images may have color cast or uneven contrast problems, which may disturb performance of image recognition system. So, we applied preprocessing method which contains automatic white balancing and contrast limited adaptive histogram equalization methods to improve visual quality of food images. We set constraints which are defined by luminance and chrominance of image to determine if the image is to be preprocessed.

2023 International Conference on Solid State Devices and Materials ,3D Vertical Poly-Si FeFETs Toward Stackable High-Density Non-volatile Memory Applications