Development of an Individual Joint Controllable Haptic Glove (CRL-Glove) and Apply for CLASS

  • Kazushige AshimoriEmail author
  • Hiroshi Igarashi
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 903)


In this paper, we propose a haptic glove: CRL-Glove, it has a wide range of movement for daily tasks while wearing them. Control is possible on six degrees of freedom of the three fingers: index, middle, and thumb. To confirm the possibility of control over the fingers’ motion, after performing a free-motion experiment, a mastery assistance task was performed. The mastery assistance task consists of a student and a teacher, both wearing the CRL-Gloves. The student is learning through the teacher’s fingers movement. This method is then compared with other education methods: a method that does not use the gloves, a master-slave method and CLASS. The CLASS is a learning assistance method using haptic information exchange between the teacher and the student. Compared to normal education method, the student is learning more intuitively. This paper aims to validate the CLASS method’s usefulness compared to the two normal education methods.


Haptic glove Haptics Learning assist CLASS Force interaction Bilateral Education Guitar 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Electrical and Electronic Engineering, Graduate School of EngineeringTokyo Denki UniversityTokyoJapan

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