Craig Ades, Iker Gonzalez, Mostapha AlSaidi, Mehrdad Nojoumian, Ou Bai, Aparna Aravelli, Leonel Lagos, Erik D Engeberg
{"title":"Robotic Finger Force Sensor Fabrication and Evaluation Through a Glove.","authors":"Craig Ades, Iker Gonzalez, Mostapha AlSaidi, Mehrdad Nojoumian, Ou Bai, Aparna Aravelli, Leonel Lagos, Erik D Engeberg","doi":"","DOIUrl":null,"url":null,"abstract":"<p><p>This force-feedback approach compares the effect on the sensing ability through a worn glove of the force application of an i-Limb Ultra robotic hand for several experimental scenarios. A Takktile sensor was integrated into a fabricated fingertip to measure the applied force of the i-Limb Ultra. A controller was then designed using MATLAB/Simulink to manipulate the finger motion of the i-Limb to apply force to an external load cell. Testing was performed to check the force measurements and sensing ability/quality for two cases: hand with no glove and hand with a nitrile glove. Each of these scenarios were tested by applying fingertip force in 3 different modes: open/close with no contact, continuous tapping and constant force.</p>","PeriodicalId":93492,"journal":{"name":"Proceedings. Florida Conference on Recent Advances in Robotics","volume":"2018 ","pages":"60-65"},"PeriodicalIF":0.0000,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8676113/pdf/nihms-1027458.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. Florida Conference on Recent Advances in Robotics","FirstCategoryId":"1085","ListUrlMain":"","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This force-feedback approach compares the effect on the sensing ability through a worn glove of the force application of an i-Limb Ultra robotic hand for several experimental scenarios. A Takktile sensor was integrated into a fabricated fingertip to measure the applied force of the i-Limb Ultra. A controller was then designed using MATLAB/Simulink to manipulate the finger motion of the i-Limb to apply force to an external load cell. Testing was performed to check the force measurements and sensing ability/quality for two cases: hand with no glove and hand with a nitrile glove. Each of these scenarios were tested by applying fingertip force in 3 different modes: open/close with no contact, continuous tapping and constant force.
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