# US 12,602,110 B2 · Sensing gloves for performing tasks > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,602,110 B2 - Document ID: US12602110B2 - Status: Granted - Kind: B2 - Application number: 18/799,570 - Filed: 2024-08-09 - Published: 2026-02-12 - Granted: 2026-04-14 - Earliest claimed: 2024-08-09 - Assignees: Tacta Systems Inc. - Applicants: Tacta Systems Inc. - Inventors: Andreas Bibl; Dariusz Golda; Vikram Pavate; Nahid Harjee; David Bibl - Web page: https://patentgrep.com/patent/US12602110B2 ## CPC - G06F 3/014: {Hand-worn input/output arrangements, e.g. data gloves} - B25J 13/082: {Grasping-force detectors (in general G01L5/16, G01L5/22)} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A system can receive a measurement from a sensing glove utilized to perform a task with an object. The measurement may be based on digital outputs of force sensor arrays and digital outputs of motion sensors, including a force sensor array and a motion sensor corresponding to each of a plurality of finger sections of fingers of the sensing glove. The system can generate feedback based on a comparison between the measurement and a primary measurement from a primary sensing glove utilized to perform the task with the object. The primary measurement may be based on digital outputs of force sensor arrays and digital outputs of motion sensors of the primary sensing glove that correspond to digital outputs of the sensing glove. Other aspects are also described and claimed. ## Claims ### Claim 1 A sensing glove for performing a task, comprising: a glove to be worn by a user, the glove including fingers having fingertips; a force sensor array coupled with a fingertip of a finger, the force sensor array including a plurality of force sensors, each force sensor individually providing a digital output indicating force data from the fingertip; a motion sensor coupled with the finger; digital readout circuitry to receive digital outputs from the force sensor array and the motion sensor; and a processor executing instructions stored in memory to: generate a measurement corresponding to the user performing a task with an object, wherein the measurement is based on the digital outputs from the force sensor array at the fingertip and the motion sensor at the finger; and generate feedback based on a comparison between the measurement and a primary measurement from a primary sensing glove utilized to perform the task with the object, the primary measurement based on digital outputs of a force sensor array at a fingertip and a motion sensor at a finger of the primary sensing glove. ### Claim 2 (depends on 1) The sensing glove of claim 1, wherein the force sensor array is coupled with a flexible circuit arranged on a palmar side of the fingertip, and wherein the motion sensor is coupled with another flexible circuit arranged on a dorsal side of the fingertip. ### Claim 3 (depends on 1) The sensing glove of claim 1, wherein the glove comprises a textile, and wherein the force sensor array is one of a plurality of force sensor arrays coupled with finger sections of the glove via the textile. ### Claim 4 (depends on 1) The sensing glove of claim 1, wherein the measurement includes a) a pressure distribution from the force sensor array, and b) an orientation of the finger relative to a wrist portion of the glove. ### Claim 5 (depends on 1) The sensing glove of claim 1, wherein the feedback includes illumination of a light emitting diode (LED) coupled with the glove. ### Claim 6 (depends on 1) The sensing glove of claim 1, further comprising: a haptic actuator coupled with the glove, wherein the feedback includes haptic feedback applied via the haptic actuator. ### Claim 7 (depends on 1) The sensing glove of claim 1, wherein the force sensor array is coupled with a flexible circuit having a strain relief that enables bending of the finger. ### Claim 8 (depends on 1) The sensing glove of claim 1, further comprising: a microphone coupled with the glove to receive an audible cue associated with the task. ### Claim 9 (depends on 1) The sensing glove of claim 1, further comprising: a second force sensor array coupled with a thumb tip of a thumb of the glove, the second force sensor array including a plurality of force sensors, each force sensor individually providing a digital output indicating force data from the thumb tip. ### Claim 10 (depends on 9) The sensing glove of claim 9, further comprising: a third force sensor array coupled with a finger section between joints of the finger, the third force sensor array including a plurality of force sensors, each force sensor individually providing a digital output indicating force data from the finger section. ### Claim 11 (depends on 1) The sensing glove of claim 1, further comprising: a second force sensor array coupled with the glove, the second force sensor array having a lower or higher density of force sensors per unit area than the force sensor array coupled with the fingertip. ### Claim 12 (depends on 11) The sensing glove of claim 11, wherein the second force sensor array is coupled with a palm of the glove. ### Claim 13 (depends on 1) The sensing glove of claim 1, further comprising: a plurality of optical markers coupled with the glove, including an optical marker coupled with the finger. ### Claim 14 (depends on 1) The sensing glove of claim 1, wherein the feedback is based on a time stamped measurement from the sensing glove compared to a time stamped measurement from the primary sensing glove, the time stamped measurement from the sensing glove including the force data and motion data from the motion sensor at a time stamp. ### Claim 15 A method for performing a task, comprising: receiving a measurement from a sensing glove utilized to perform a task with an object, the measurement based on digital outputs of force sensor arrays and digital outputs of motion sensors received by digital readout circuitry of the sensing glove, including a force sensor array including a plurality of force sensors coupled with a fingertip of a finger of the sensing glove and a motion sensor coupled with the finger, the force sensor array including a plurality of force sensors, each force sensor individually providing a digital output indicating force data from the fingertip; and generating feedback based on a comparison between the measurement and a primary measurement from a primary sensing glove utilized to perform the task with the object, the primary measurement based on digital outputs of force sensor arrays and digital outputs of motion sensors of the primary sensing glove that correspond to digital outputs of the sensing glove, including digital outputs of a force sensor array at a fingertip and a motion sensor at a finger of the primary sensing glove. ### Claim 16 (depends on 15) The method of claim 15, further comprising: aggregating the measurement with a plurality of measurements from a plurality of sensing gloves to determine a performance metric corresponding to the task. ### Claim 17 (depends on 15) The method of claim 15, wherein the task comprises a) orienting a connector housing, b) inserting a wire into the connector housing, and c) pulling the wire to test engagement with the connector housing. ### Claim 18 (depends on 15) The method of claim 15, further comprising: controlling a robotic device to perform the task based on the primary measurement. ### Claim 19 (depends on 15) The method of claim 15, wherein the measurement includes temperature data from digital outputs of temperature sensors mounted on a palmar side of the sensing glove. ### Claim 20 (depends on 15) The method of claim 15, wherein the measurement includes proximity data from digital outputs of proximity sensors mounted on a palmar side of the sensing glove. ### Claim 21 (depends on 15) The method of claim 15, wherein the feedback indicates to increase or decrease an amount of force or motion with the object. ### Claim 22 (depends on 15) The method of claim 15, wherein the feedback indicates an adjustment for gripping or holding the object. ### Claim 23 (depends on 15) The method of claim 15, further comprising: receiving via a microphone an audible cue associated with the task. ### Claim 24 A system using a sensing glove to perform a task, comprising: a sensing glove to be worn by a user, the sensing glove including: fingers having fingertips; a force sensor array coupled with a fingertip of a finger, the force sensor array including a plurality of force sensors, each force sensor individually providing a digital output indicating force data from the fingertip; a motion sensor coupled with the finger; and digital readout circuitry to receive digital outputs from the force sensor array and the motion sensor; and one or more processors configured to: generate a measurement corresponding to the user performing a task with an object, wherein the measurement is based on the digital outputs from the force sensor array at the fingertip and the motion sensor at the finger; and generate feedback based on a comparison between the measurement and a standard established by a primary measurement from a primary sensing glove utilized to perform the task with the object, the primary measurement based on digital outputs of a force sensor array at a fingertip and a motion sensor at a finger of the primary sensing glove.