TY - GEN
T1 - Development of a 3-axis human fingertip tactile sensor with an ortho-planar spring
AU - Kristanto, Harris
AU - Sathe, Prathamesh
AU - Hsu, Chincheng
AU - Schmitz, Alexander
AU - Tomo, Tito Pradhono
AU - Somlor, Sophon
AU - Sugano, Shigeki
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Human experts have mastered many manual skills. Transferring those skills to robots or human novices is challenging. Not only the movements, but also the exerted forces are of importance. In this paper we propose a sensor that can measure the force vector acting on the human fingertip, without covering the part of the fingertip that is contact with the touched object. Compared to our previous iterations of this sensor, we use a spring instead of viscoelastic material as the deformable material for the sensor. While it is challenging to include a spring in the given form factor, springs have the benefit of lower hysteresis than viscoelastic materials. This paper presents the integration of the spring in the sensor and shows experimental validation with 8 subjects. Compared to our previous version of the sensor with 2 Hall effect sensors, we achieved improved sensing characteristics.
AB - Human experts have mastered many manual skills. Transferring those skills to robots or human novices is challenging. Not only the movements, but also the exerted forces are of importance. In this paper we propose a sensor that can measure the force vector acting on the human fingertip, without covering the part of the fingertip that is contact with the touched object. Compared to our previous iterations of this sensor, we use a spring instead of viscoelastic material as the deformable material for the sensor. While it is challenging to include a spring in the given form factor, springs have the benefit of lower hysteresis than viscoelastic materials. This paper presents the integration of the spring in the sensor and shows experimental validation with 8 subjects. Compared to our previous version of the sensor with 2 Hall effect sensors, we achieved improved sensing characteristics.
UR - http://www.scopus.com/inward/record.url?scp=85079053565&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85079053565&partnerID=8YFLogxK
U2 - 10.1109/ROBIO49542.2019.8961678
DO - 10.1109/ROBIO49542.2019.8961678
M3 - Conference contribution
AN - SCOPUS:85079053565
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 297
EP - 302
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -