Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, Korea.
Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul 04310, Korea.
Sensors (Basel). 2019 Dec 18;20(1):4. doi: 10.3390/s20010004.
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.
本文提出了一种基于定制电容传感器的指尖握力传感器，用于具有开放式电极结构的手套式辅助设备。传感器的设计允许在抓取和操纵物体时利用人类的触觉。所提出的传感器可以安装在指尖的两侧，并测量当施加在指尖上的抓握力导致指尖组织扩张时产生的力。可测量的自由度（DoF）数量为拇指的两个 DoF（弯曲和内收）和索引和中指的一个 DoF（弯曲）。所提出的传感器允许与手套式辅助设备结合使用以测量指尖力。由于指尖组织的扩张变化取决于关节角度，因此对每个手指关节角度进行了校准。校准后，指尖力估计的均方根误差（RMSE）范围为 3.75%至 9.71%，与手指关节角度或手指姿势无关。
