A fingertip force sensor for underwater dexterous hand

2012 ◽  
Vol 26 (2) ◽  
pp. 627-633 ◽  
Author(s):  
Hua Wang
Keyword(s):  
Force Sensor ◽  
Fingertip Force ◽  
Dexterous Hand

The Research on the Static Calibration of Fingertip Force Sensor for Underwater Dexterous Hand on RBF Neural Network

2007 ◽  
Vol 10-12 ◽  
pp. 267-270
Author(s):  
Peng Jia ◽  
Qing Xin Meng ◽  
Hua Wang ◽  
Hai Bo Wang
Keyword(s):  
Neural Network ◽  
Rbf Neural Network ◽  
Force Sensor ◽  
Calibration Method ◽  
Complex Task ◽  
Calibration System ◽  
Static Calibration ◽  
Fingertip Force ◽  
Calibration Experiment ◽  
Dexterous Hand

The fingertip force sensor is the key for the complex task of the dexterous underwater hand, in order to safely grasp an unknown object using the dexterous underwater hand and accurately perceive its position in the fingers, a sensor should be developed, which can detect the force and position simultaneously. Furthermore, this sensor should be used underwater. It is difficult to employ the accustomed calibration method for the characteristic of the fingertip force sensor, and the accustomed method is not able to assure the precision. A calibration method based on RBF (Radial-Basis Function) neural network is introduced. Furthermore, the calibration system and program are also designed. The calibration experiment of the sensor is carried out. The results show the nonlinear calibration method based on RBF neural network assure the precision of the sensor, which meets the demand of research on the underwater dexterous hand.

A Prototype of Fingertip Force Sensor Using Small Piezoelectric Element

2021 ◽  
Vol 2021 (0) ◽  
pp. 1P3-I04
Author(s):  
Haruki YAMAMOTO ◽  
Takuma AKIDUKI ◽  
Atsuo HONNA ◽  
Tomoaki MASIMO
Keyword(s):  
Piezoelectric Element ◽  
Force Sensor ◽  
Fingertip Force

Fingertip Force Measurement of GloveMAP by Using a Flexi Force Sensor

2015 ◽  
Vol 780 ◽  
pp. 1-5
Author(s):  
Khairunizam Wan ◽  
H.E. Nabilah ◽  
Nor Farahiya ◽  
M. Hazwan Ali ◽  
Rashidah Suhaimi ◽  
...  
Keyword(s):  
Force Measurement ◽  
Current Trend ◽  
Force Sensor ◽  
Force Sensors ◽  
Gaussian Filter ◽  
Natural Interaction ◽  
Fingertip Force ◽  
Grasping Force ◽  
Interface Devices ◽  
A Current

Modernization of human technologies overtime results the need of more freedom technology likes the use of natural interaction to replace a current trend interface devices such as joysticks, mice, keyboards and other related output devices. Dataglove is one of the interface devices that could serve a natural interaction between user and computers. In this paper, a dataglove called GloveMAP is introduced which has the capability of measuring fingertip force. The flexible force sensors are attached to the fingers location of the glove. Several object grasping experiments are conducted and the grasping force signals are measured. A Gaussian filter is introduced to smoothen the acquired force signals.

scholarly journals A Finger Grip Force Sensor with an Open-Pad Structure for Glove-Type Assistive Devices

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 4 ◽  
Author(s):  
Junghoon Park ◽  
Pilwon Heo ◽  
Jung Kim ◽  
Youngjin Na
Keyword(s):  
Degrees Of Freedom ◽  
Grip Force ◽  
Force Sensor ◽  
Assistive Devices ◽  
Finger Joint ◽  
Assistive Device ◽  
Force Estimation ◽  
Joint Angles ◽  
Fingertip Force ◽  
Grasping Force

This paper presents a fingertip grip force sensor based on custom capacitive sensors for glove-type assistive devices with an open-pad structure. The design of the sensor allows using human tactile sensations during grasping and manipulating an object. The proposed sensor can be attached on both sides of the fingertip and measure the force caused by the expansion of the fingertip tissue when a grasping force is applied to the fingertip. The number of measurable degrees of freedom (DoFs) are the two DoFs (flexion and adduction) for the thumb and one DoF (flexion) for the index and middle fingers. The proposed sensor allows the combination with a glove-type assistive device to measure the fingertip force. Calibration was performed for each finger joint angle because the variations in the expansion of the fingertip tissue depend on the joint angles. The root mean square error (RMSE) for fingertip force estimation ranged from 3.75% to 9.71% after calibration, regardless of the finger joint angles or finger posture.

A Potential 4-D Fingertip Force Sensor for an Underwater Robot Manipulator

2010 ◽  
Vol 35 (3) ◽  
pp. 574-583 ◽  
Author(s):  
Qiaokang Liang ◽  
Dan Zhang ◽  
Quanjun Song ◽  
Yunjian Ge
Keyword(s):  
Robot Manipulator ◽  
Force Sensor ◽  
Underwater Robot ◽  
Fingertip Force

Fingertip Force Sensor

Sensor Review ◽  
2004 ◽  
Vol 24 (1) ◽  
Author(s):  
Jon Rigelsford
Keyword(s):  
Force Sensor ◽  
Fingertip Force

Precision Grasp Control with a Pneumatic Gripper and a Novel Fingertip Force Sensor

2018 ◽  
Author(s):  
Mohammad Nasser Saadatzi ◽  
Sumit K. Das ◽  
Indika B. Wijayasinghe ◽  
Dan O. Popa ◽  
Joshua R. Baptist
Keyword(s):  
Force Sensor ◽  
Fingertip Force

Fingertip Force/Torque Sensor With High Isotropy and Sensitivity for Underwater Manipulation

2010 ◽  
Author(s):  
Qiaokang Liang ◽  
Dan Zhang ◽  
Zhongzhe Chi ◽  
Yunjian Ge
Keyword(s):  
Robot Manipulators ◽  
Control Strategies ◽  
High Sensitivity ◽  
Force Sensor ◽  
Interaction Force ◽  
Underwater Robot ◽  
Loop Control ◽  
Fingertip Force ◽  
Underwater Manipulation ◽  
Close Loop Control

Control strategies for robotic manipulators in underwater applications are still immature compared with the strategies of the manipulators on land. Part of the reason is that there is no precise force/torque information, which is essential to the close-loop control. Unlike the sensor applied on the ground, the sensors for underwater applications have to endure the high-pressure, low-temperature and corrosive environment. Therefore, aimed at obtaining the accurate interaction force/torque between underwater robot manipulators and objects, a novel four-dimensional fingertip force sensor is presented based on e-type membrane for underwater robot manipulators. A seal technique is described. Experimental results demonstrate the design could detect force/torque with good linearity, high sensitivity and weak couplings.

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