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

Park, Junghoon; Heo, Pilwon; Kim, Jung; Na, Youngjin

doi:10.3390/s20010004

Cited by 13 publications

(7 citation statements)

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“…However, the installation of the former and the portability of the latter are issues that undermine their industrial adoption. As a solution, wearable alternatives are suggested in the form of gloves ( Park et al, 2019 ) and shoes ( Bamberg et al, 2008 ; Muzaffar and Elfadel, 2020 ) equipped with force/torque sensors. Instrumented gloves, for example, remove the need to equip handles and tools with force sensors or pressure mats.…”

Section: Human Monitoring Hardware and Systemsmentioning

confidence: 99%

Ergonomic human-robot collaboration in industry: A review

et al. 2023

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In the current industrial context, the importance of assessing and improving workers’ health conditions is widely recognised. Both physical and psycho-social factors contribute to jeopardising the underlying comfort and well-being, boosting the occurrence of diseases and injuries, and affecting their quality of life. Human-robot interaction and collaboration frameworks stand out among the possible solutions to prevent and mitigate workplace risk factors. The increasingly advanced control strategies and planning schemes featured by collaborative robots have the potential to foster fruitful and efficient coordination during the execution of hybrid tasks, by meeting their human counterparts’ needs and limits. To this end, a thorough and comprehensive evaluation of an individual’s ergonomics, i.e. direct effect of workload on the human psycho-physical state, must be taken into account. In this review article, we provide an overview of the existing ergonomics assessment tools as well as the available monitoring technologies to drive and adapt a collaborative robot’s behaviour. Preliminary attempts of ergonomic human-robot collaboration frameworks are presented next, discussing state-of-the-art limitations and challenges. Future trends and promising themes are finally highlighted, aiming to promote safety, health, and equality in worldwide workplaces.

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Section: Human Monitoring Hardware and Systemsmentioning

confidence: 99%

Ergonomic human-robot collaboration in industry: A review

et al. 2023

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“…High quality sensing of 3D forces at the fingertip requires fine resolution, low hysteresis, high precision, high linearity, resistance to fatigue effects, low package mass, and low cost. There are plenty of research devices that capture fine forces, but they only detect 1 DOF [ 7 , 8 , 9 , 10 , 11 , 12 ] and/or do not report detailed sensor performance [ 13 , 14 , 15 , 16 , 17 , 18 , 19 ]. There have been several attempts in the academic literature to capture fine 3D force signals from the fingertips with clear performance measures.…”

Section: Introductionmentioning

confidence: 99%

Novel Planar Strain Sensor Design for Capturing 3-Dimensional Fingertip Forces from Patients Affected by Hand Paralysis

Carducci

Olds

Krakauer

et al. 2022

Sensors

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Assessment and therapy for individuals who have hand paresis requires force sensing approaches that can measure a wide range of finger forces in multiple dimensions. Here we present a novel strain-gauge force sensor with 3 degrees of freedom (DOF) designed for use in a hand assessment and rehabilitation device. The sensor features a fiberglass printed circuit board substrate to which eight strain gauges are bonded. All circuity for the sensor is routed directly through the board, which is secured to a larger rehabilitative device via an aluminum frame. After design, the sensing package was characterized for weight, capacity, and resolution requirements. Furthermore, a test sensor was calibrated in a three-axis configuration and validated in the larger spherical workspace to understand how accurate and precise the sensor is, while the sensor has slight shortcomings with validation error, it does satisfy the precision, calibration accuracy, and fine sensing requirements in orthogonal loading, and all structural specifications are met. The sensor is therefore a great candidate for sensing technology in rehabilitation devices that assess dexterity in patients with impaired hand function.

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“…Therefore, sensors are necessary in controlling a soft gripper. At present, the types of sensors used on soft grippers include resistive sensors [ 28 , 31 , 32 , 33 ], capacitive sensors [ 34 , 35 ], flexible electronics [ 36 ], strain sensitive fabrics [ 37 ], magnetic sensors [ 38 , 39 ], and soft pneumatic sensors [ 40 , 41 ]. As previous studies described, most of the above sensors are directly attached to the surface of the finger or manufactured together.…”

Section: Introductionmentioning

confidence: 99%

Modeling of a Soft-Rigid Gripper Actuated by a Linear-Extension Soft Pneumatic Actuator

Cheng

Jia

et al. 2021

Sensors

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Soft robot has been one significant study in recent decades and soft gripper is one of the popular research directions of soft robot. In a static gripping system, excessive gripping force and large deformation are the main reasons for damage of the object during the gripping process. For achieving low-damage gripping to the object in static gripping system, we proposed a soft-rigid gripper actuated by a linear-extension soft pneumatic actuator in this study. The characteristic of the gripper under a no loading state was measured. When the pressure was >70 kPa, there was an approximately linear relation between the pressure and extension length of the soft actuator. To achieve gripping force and fingertip displacement control of the gripper without sensors integrated on the finger, we presented a non-contact sensing method for gripping state estimation. To analyze the gripping force and fingertip displacement, the relationship between the pressure and extension length of the soft actuator in loading state was compared with the relationship under a no-loading state. The experimental results showed that the relative error between the analytical gripping force and the measured gripping force of the gripper was ≤2.1%. The relative error between analytical fingertip displacement and theoretical fingertip displacement of the gripper was ≤7.4%. Furthermore, the low damage gripping to fragile and soft objects in static and dynamic gripping tests showed good performance of the gripper. Overall, the results indicated the potential application of the gripper in pick-and-place operations.

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

Cited by 13 publications

References 50 publications

Ergonomic human-robot collaboration in industry: A review

Ergonomic human-robot collaboration in industry: A review

Novel Planar Strain Sensor Design for Capturing 3-Dimensional Fingertip Forces from Patients Affected by Hand Paralysis

Modeling of a Soft-Rigid Gripper Actuated by a Linear-Extension Soft Pneumatic Actuator

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