A Wearable Three-Axis Tactile Sensor for Human Fingertips

Harris Kristanto*, Prathamesh Sathe, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Shigeki Sugano

*この研究の対応する著者

研究成果: Article査読

3 被引用数 (Scopus)

抄録

Human training data can scaffold robot imitation learning. However, most datagloves only record joint angles, but for many tasks, force control is more important. They also cover the human skin, thereby making a natural interaction of the human with the object impossible. This letter suggests a wearable sensor that can measure the three-axis force vector exerted at the fingertip, without covering the skin that contacts the object. Using two small-sized Hall effect based three-axis sensors mounted on the sides of the fingertips, the finger pad deformation resulting from the force vector acting on the fingertip is measured. Experiments with ten subjects show that the force vectors can be measured with reasonable precision. Furthermore, the influence of the Earth's magnetic field and the finger's orientation on the finger tactile sensor's measurement has been reduced from ± 4N to ± 1N.

本文言語English
論文番号8430516
ページ(範囲)4313-4320
ページ数8
ジャーナルIEEE Robotics and Automation Letters
3
4
DOI
出版ステータスPublished - 2018 10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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