一种用于抓取过程中力分析的仪器化物体的开发与初步测试。
Development and preliminary testing of an instrumented object for force analysis during grasping.
作者信息
Romeo R A, Cordella F, Zollo L, Formica D, Saccomandi P, Schena E, Carpino G, Davalli A, Sacchetti R, Guglielmelli E
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:6720-3. doi: 10.1109/EMBC.2015.7319935.
This paper presents the design and realization of an instrumented object for force analysis during grasping. The object, with spherical shape, has been constructed with three contact areas in order to allow performing a tripod grasp. Force Sensing Resistor (FSR) sensors have been employed for normal force measurements, while an accelerometer has been used for slip detection. An electronic board for data acquisition has been embedded into the object, so that only the cables for power supply exit from it. Validation tests have been carried out for: (i) comparing the force measurements with a ground truth; (ii) assessing the capability of the accelerometer to detect slippage for different roughness values; (iii) evaluating object performance in grasp trials performed by a human subject.
本文介绍了一种用于抓取过程中力分析的仪器化物体的设计与实现。该物体为球形，设有三个接触区域，以便能够进行三脚架式抓握。力敏电阻（FSR）传感器用于测量法向力，而加速度计则用于检测滑动。一个用于数据采集的电子板已嵌入该物体中，因此只有电源线从其引出。已针对以下方面进行了验证测试：（i）将力测量结果与实际情况进行比较；（ii）评估加速度计检测不同粗糙度值下滑动的能力；（iii）评估人类受试者进行抓握试验时物体的性能。
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