IEEE Trans Haptics. 2021 Apr-Jun;14(2):396-408. doi: 10.1109/TOH.2020.3037175. Epub 2021 Jun 17.
In this article, we developed a new grip force measurement concept that allows for embedding tactile stimulation mechanisms in a gripper. This concept is based on a single force sensor to measure the force applied on each side of the gripper, and substantially reduces tactor motion artifacts on force measurement. To test the feasibility of this new concept, we built a device that measures control of grip force in response to a tactile stimulation from a moving tactor. We calibrated and validated our device with a testing setup with a second force sensor over a range of 0 to 20 N without movement of the tactors. We tested the effect of tactor movement on the measured grip force, and measured artifacts of 1% of the measured force. We demonstrated that during the application of dynamically changing grip forces, the average errors were 2.9% and 3.7% for the left and right sides of the gripper, respectively. We characterized the bandwidth, backlash, and noise of our tactile stimulation mechanism. Finally, we conducted a user study and found that in response to tactor movement, participants increased their grip force, the increase was larger for a smaller target force, and depended on the amount of tactile stimulation.
在本文中，我们开发了一种新的握力测量概念，允许在夹持器中嵌入触觉刺激机制。该概念基于单个力传感器来测量夹持器每一侧施加的力，并大大减少了力测量中的触觉运动伪影。为了测试这个新概念的可行性，我们构建了一个设备，该设备可测量响应移动触觉传感器的触觉刺激的握力控制。我们使用具有第二个力传感器的测试设置在没有触觉器运动的情况下校准和验证了我们的设备，范围为 0 到 20 N。我们测试了触觉器运动对测量握力的影响，并测量了 1%的测量力的伪影。我们证明，在动态变化的握力施加过程中，夹持器左右两侧的平均误差分别为 2.9%和 3.7%。我们对我们的触觉刺激机制的带宽、回程和噪声进行了特征描述。最后，我们进行了一项用户研究，发现参与者在触觉器运动时会增加握力，对于较小的目标力，增加幅度更大，并且取决于触觉刺激的量。
