A Finger Grip Force Sensor with an Open-Pad Structure for Glove-Type Assistive Devices

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This paper presents a fingertip grip force sensor based on custom capacitive sensors for glove-type assistive devices with an open-pad structure. The design of the sensor allows using human tactile sensations during grasping and manipulating an object. The proposed sensor can be attached on both sides of the fingertip and measure the force caused by the expansion of the fingertip tissue when a grasping force is applied to the fingertip. The number of measurable degrees of freedom (DoFs) are the two DoFs (flexion and adduction) for the thumb and one DoF (flexion) for the index and middle fingers. The proposed sensor allows the combination with a glove-type assistive device to measure the fingertip force. Calibration was performed for each finger joint angle because the variations in the expansion of the fingertip tissue depend on the joint angles. The root mean square error (RMSE) for fingertip force estimation ranged from 3.75% to 9.71% after calibration, regardless of the finger joint angles or finger posture.
Publisher
MDPI
Issue Date
2020-01
Language
English
Article Type
Article
Citation

SENSORS, v.20, no.1

ISSN
1424-8220
DOI
10.3390/s20010004
URI
http://hdl.handle.net/10203/272579
Appears in Collection
ME-Journal Papers(저널논문)
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