A Novel Grip Force Measurement Concept for Tactile Stimulation Mechanisms – Design, Validation, and User Study

06/07/2020
by   Guy Bitton, et al.
0

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 it substantially reduces artifacts of force measurement caused by tactor motion. 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. First, we used a custom designed testing setup with a second force sensor to calibrate our device over a range of 0 to 20 N without movement of the tactors. Second, we tested the effect of tactor movement on the measured grip force and measured artifacts of 1 demonstrated that during the application of dynamically changing grip forces, the average errors were 2.9 gripper, respectively. Finally, we conducted a user study and found that in response to tactor movement, participants increased their grip force, and that the increase was larger for a smaller target force and depended on the amount of tactile stimulation.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 3

page 4

page 7

03/23/2021

A Plenum-Based Calibration Device for Tactile Sensor Arrays

In modern robotic applications, tactile sensor arrays (i.e., artificial ...
05/15/2021

Development of Soft Tactile Sensor for Force Measurement and Position Detection

As more robots are implemented for contact-rich tasks, tactile sensors a...
02/13/2022

Tac3D: A Novel Vision-based Tactile Sensor for Measuring Forces Distribution and Estimating Friction Coefficient Distribution

The importance of force perception in interacting with the environment w...
07/03/2021

Overcoming the Force Limitations of Magnetic Robotic Surgery: Impact-based Tetherless Suturing

Magnetic robotics obviate the physical connections between the actuators...
08/21/2020

Isometric force pillow: using air pressure to quantify involuntary finger flexion in the presence of hypertonia

Survivors of central nervous system injury commonly present with spastic...
04/23/2021

Accuracy and precision: a new view on kinematic assessment of solid-state hinges and compliant mechanisms

Compliant mechanisms are alternatives to conventional mechanisms which e...
01/07/2020

Closed loop application of electroadhesion for increased precision in texture rendering

Tactile displays based on friction modulation offer wide-bandwidth force...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.