Development and preliminary testing of an instrumented object for force analysis during grasping.
Annu Int Conf IEEE Eng Med Biol Soc
; 2015: 6720-3, 2015.
Article
en En
| MEDLINE
| ID: mdl-26737835
ABSTRACT
This paper presents the design and realization of an instrumented object for force analysis during grasping. The object, with spherical shape, has been constructed with three contact areas in order to allow performing a tripod grasp. Force Sensing Resistor (FSR) sensors have been employed for normal force measurements, while an accelerometer has been used for slip detection. An electronic board for data acquisition has been embedded into the object, so that only the cables for power supply exit from it. Validation tests have been carried out for (i) comparing the force measurements with a ground truth; (ii) assessing the capability of the accelerometer to detect slippage for different roughness values; (iii) evaluating object performance in grasp trials performed by a human subject.
Texto completo:
1
Colección:
01-internacional
Banco de datos:
MEDLINE
Asunto principal:
Robótica
/
Fuerza de la Mano
Límite:
Humans
Idioma:
En
Revista:
Annu Int Conf IEEE Eng Med Biol Soc
Año:
2015
Tipo del documento:
Article