Grasp to see—object classification using flexion glove with support vector machine

Shun Hsin Yu, Jen Shuo Chang, Chia Hung Dylan Tsai*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


This paper proposes an object classification method using a flexion glove and machine learning. The classification is performed based on the information obtained from a single grasp on a target object. The flexion glove is developed with five flex sensors mounted on five finger sleeves, and is used for measuring the flexion of individual fingers while grasping an object. Flexion signals are divided into three phases, and they are the phases of picking, holding and releasing, respectively. Grasping features are extracted from the phase of holding for training the support vector machine. Two sets of objects are prepared for the classification test. One is printed-object set and the other is daily-life object set. The printed-object set is for investigating the patterns of grasping with specified shape and size, while the daily-life object set includes nine objects randomly chosen from daily life for demonstrating that the proposed method can be used to identify a wide range of objects. According to the results, the accuracy of the classifications are achieved 95.56% and 88.89% for the sets of printed objects and daily-life objects, respectively. A flexion glove which can perform object classification is successfully developed in this work and is aimed at potential grasp-to-see applications, such as visual impairment aid and recognition in dark space.

Original languageEnglish
Article number1461
Pages (from-to)1-14
Number of pages14
Issue number4
StatePublished - 2 Feb 2021


  • Flex sensing
  • Grasping
  • Machine learning
  • Object classification


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