Sensorized thimble for haptics applications

Monroy, Mary; Ferré, Manuel; Barrio, Jorge; Eslava, Victor; Galiana, Ignacio

doi:10.1109/icmech.2009.4957201

Cited by 23 publications

(18 citation statements)

References 6 publications

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“…7 show that capacitance values actually change as force increases. This means that the sensors exhibited a piezocapacitive behavior; such property had been unknown up to now, and only the piezoresistive property of the sensor had been used for estimating forces [4], [6], [9], [11], [17], [19]. Figure 9 shows the variation of Cs as a function of force, note that capacitance variation is kind of linear, but with little step jumps, just as the conductance one in Fig.…”

Section: A Validation Of Sensor's Modelmentioning

confidence: 98%

“…In order to study that, Figure 7 and 8 show C s and R s respectively, as a function of frequency for the three same forces of 50N, 125N and 250N. Sensor's capacitance and resistance were estimated by performing phase, φ , and output amplitude readings, A o , and then using expressions (6) and (7) to obtain C s and R s . Figure 7 yields us to similar statements as previously did Fig.…”

Section: A Validation Of Sensor's Modelmentioning

confidence: 99%

“…This human-robot interaction calls for continuous monitoring of the forces exerted by robots on humans to maintain interaction forces within both comfortable and safe limits [4]. There are, currently, several application fields in search of solutions for measuring interaction forces such as intelligent assist devices [5], haptic interfaces [6], [7], human grip force analysis [8], [9], [10], instrumented gloves [11], [12], footwear design [13], and medical robotics, for instance. The ideal force sensor seems to be that featuring: high repeatability, increased robustness and reliability, low drift, independent readings of temperature and magnetic field, small size, light weight, and low cost.…”

Section: Introductionmentioning

confidence: 99%

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Improving the performance of piezoresistive force sensors by modeling sensor capacitance

Paredes-Madrid

Emmi

Santos

2010

2010 IEEE International Symposium on Industrial Electronics

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Piezoresistive force sensors exhibit considerable lower accuracy compared with load cells and force measuring systems based in strain gauges, however a new method for measuring forces using piezoresistive sensors is described in this paper, leading to a considerable increase in the repeatability of force readings. The new method consists of reading sensor's conductance and capacitance by applying DC and sinusoidal waveforms, thereby allow us to determine a multivariable estimation of force, instead of using the traditional, purely resistive model that has been used up to now. A study of sensor nonlinearities is also described which will allow us to determine the optimal setup to perform capacitance readings under sinusoidal excitation.

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Section: A Validation Of Sensor's Modelmentioning

confidence: 98%

Section: A Validation Of Sensor's Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Improving the performance of piezoresistive force sensors by modeling sensor capacitance

Paredes-Madrid

Emmi

Santos

2010

2010 IEEE International Symposium on Industrial Electronics

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“…However, the grip of activities shall be accompanied by a force to prevent the compressed object from slipping. There are huge of research for analyze the finger force for example devices with the intelligent assistance [4], haptical interface devices [5,6], analysis of the human gripper force [7,8,9], instrumented intelligent gloves [10,11], footwear design [12], gesture recognition system [13], hemodynamic study [14], low cost DataGlove [15] and finally medical robotics. All of the researches are trying to seeking the best solutions for measuring the fingers force.…”

Section: Introductionmentioning

confidence: 99%

Accurate Measurement of the Force Sensor for Intermediate and Proximal Phalanges of Index Finger

Adnan¹

2012

IJCA

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In this research paper, the study for grip force on the maximum level of the various materials handling griper can be evaluate at an effective maximum isometric strength especially for intermediate and proximal phalanges of index finger. This analysis method using the piezoresistive force sensor, whereas the devices will be automatically increases the accuracy and repeatability of the force sensitivity. Force sensor is a component of flexible and easily applied to enable measurement of the non-intrusive value. The sensor can be attached to or placed on a variety of surface conditions. The physical structure of product is to be combined with plastic film or metal for increased stiffness or for added protection from abrasion. In order to determine forces acting upon an articular joint during fingers rehabilitation for maximum grip force on low cost DataGlove. The estimation show that all the action force is starting at their fingertips functioning as the total volume of gripper force, dimensions / orientation of the handle, and grip made. By measuring the gripper forces acting on the fingertips of several subjects, the different handle and level of gripper force are resulting from movement of fingers will be gathered and will be analyzed so that a realistic mathematical model structure could be produced.

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“…The only downfall of this design was that the hinge placed a very small amount of resting force (<10 grams) on the sensor at all times, offsetting the force measurements. One final iteration was taken to solve this issue, adapted from the thimble design discussed earlier [30,34]. Simply, two metal plates were cut to exactly cover the sensing area on the front and back of each sensor, as shown in FIGURE 6 [30].…”

Section: Figure 14 -Initial Puck Designmentioning

confidence: 99%

Force sensing glove for quantification of joint torques during stretching after spinal cord injury in the rat model.

Seibt¹

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Seibt, Erik, "Force sensing glove for quantification of joint torques during stretching after spinal cord injury in the rat model." (2013 Instruments' LabVIEW program, the device was able to accurately measure forces, and eventually torques, applied during stretching. This study sought to explain what range of torques were being applied during stretching after SCI in the rat model in the hopes of understanding how to administer safe, effective therapeutic stretches. Six adult female Sprague-Dawley rats were mildly contused at T9 using the NYU impactor device with a 12.5 g-cm weight drop. n=2 rats were stretched 2 days per week and n=2 rats were v stretched once per week using an eight minute protocol, for the first 5 weeks post-injury while controls (n=2) received no stretch therapy. Briefly, the tibialis anterior (TA) and triceps surae (TS) muscle groups were stretched by two therapists bilaterally for a minute each, totaling 4 minutes of stretch per rat per day. Kinematic assessments of stretching were accompanied by force measurement data and were used to generate comparisons between therapeutic torque and end range of motion (ROM) of the ankle. The data suggests that both once and twice per week stretching regimens were not enough to inhibit locomotor recovery or elicit a noticeable change in end ROM in such a mild injury model. There were noticeable differences in torques applied during stretching by different therapists, confirming the findings of previous studies. More importantly, the data showed that immediately after injury the normal end ROM can be achieved by applying less torque. The torque necessary to reach the end ROM increases to baseline values by week 5, potentially due to a return of the stretch reflex during spinal shock. This study urges other aspects of stretching therapy to be considered and suggests a tool for therapists to quantitatively apply safe and consistent stretching therapies to patients.vi

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Sensorized thimble for haptics applications

Cited by 23 publications

References 6 publications

Improving the performance of piezoresistive force sensors by modeling sensor capacitance

Improving the performance of piezoresistive force sensors by modeling sensor capacitance

Accurate Measurement of the Force Sensor for Intermediate and Proximal Phalanges of Index Finger

Force sensing glove for quantification of joint torques during stretching after spinal cord injury in the rat model.

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