SudoGlove Hardware Controller

Categories	Academic Research, Embedded Systems, Robotics, Software Development
When?	March 2009 - March 2012

Demoing the SudoGlove at the 2011 Open Hardware Summit

What is the SudoGlove?

The SudoGlove is a gesture controller that can be easily interfaced with hardware or software via a wireless connection. The glove implements an array of sensors plus filtering circuitry and mathematical analysis firmware to derive state values for each sensor and transmits them to an authorized receiver. I have used the glove to drive an RC car, to synthesize music, to manipulate openGL video, to control arbitrary processing software, and to control performance lighting effects. You can see videos and examples of these interfaces below.

Glove Control Mechanisms

Finger Flexation	Pinky Finger Force	Ring Finger Force
A flex sensor mounted on the index finger is used to detect the curvature of the finger. Bending the sensor results in a change of resistance, which can be detected by the microcontroller. When driving an RC car, this is used to control acceleration. In musical performances, I’ve used this sensor to adjust the tone of a note or a beat.	A “FlexiForce” sensor mounted on the pinky finger can be depressed by the thumb and detects varying levels of pressure. Like the flex sensor, its resistance changes as it is manipulated. This sensor is used to control light and sound effects on the RC Car proof of concept, has been used to play notes when the glove is used as a synthesizer, and works as a good digital button for software applications.	An additional force sensor on the ring finger works in the same fashion as the sensor on the pinky finger. In my applications, I’ve used this sensor to toggle the direction of motion for an RC car, or to play a secondary instrument or scale when using the glove as a synthesizer.
Piezoelectric Vibration Sensor	2D Gyroscope	System Controller
A piezoelectric vibration sensor mounted on the palm of the glove is perfect for detecting clapping. When deformed, piezoelectric sensors create a voltage differential that can be detected by the microcontroller. In the RC Car proof-of-concept, I’ve used this sensor to honk the horn. In musical performance, it works great for generating a drum beat.	The gyroscope can detect rotation of the wrist from side to side (this is used for steering the RC Car), and up/down. Because gyroscopes return values of acceleration, an algorithm is implemented in the system controller to convert the acceleration values to position values. When the glove is turned on, the system calibrates by querying the gyroscope. Once calibrated, the system tracks the movement of the gyroscope, and performs a moving Reimann Sum approximation of the double integral of the gyroscope’s acceleration to determine position. Feedback LEDs on the glove inform the wearer of the system’s predicted position.	The system controller connects to the glove via a cable harness and is worn on the belt. It contains a microcontroller (the Arduino Mega), a prototyping shield for the sensor resistive dividers, an XBee transceiver, a 9V battery, and a power switch with an indicator light. An acryclic case was custom-designed and lasercut.

Example Implementations

Driving an RC Car

Driving Demonstration Video

Uncut Driving Test Footage

Music Synthesis and Live Performance Effects Control

Music Synthesis Demonstration

Using the SudoGlove in Live Performances

SudoGlove Television Coverage

The Discovery Channel’s Daily Planet Show [source]
Internationally Syndicated in April 2011

Click to View Video on the Discovery Channel Website

InsideScience TV via the American Institute of Physics [source]
Nationally syndicated in February 2012

SudoGlove Schematics, Source Code, and Documentation

The SudoGlove is comprised of entirely open source hardware and software. You can download all SudoGlove materials in the GitHub Repository. This project is licensed under Creative Commons Attribution Share-Alike.