TY - GEN
T1 - ThimbleSense
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
AU - Battaglia, Edoardo
AU - Grioli, Giorgio
AU - Catalano, Manuel G.
AU - Santello, Marco
AU - Bicchi, Antonio
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Measuring contact forces applied by a hand to a grasped object is a necessary step to understand the mysteries that still hide in the unparalleled human grasping ability. Nevertheless, simultaneous collection of information about the position of contacts and about the magnitude and direction of forces is still an elusive task. In this paper we introduce a wearable device that addresses this problem, and can be used to measure generalized forces during grasping. By assembling two supports around a commercial 6-axis force/torque sensor we obtain a thimble that can be easily positioned on a fingertip. The device is used in conjunction with an active marker-based motion capture system to simultaneously obtain absolute position and orientation of the thimbles, without requiring any assumptions on the kinematics of the hand. Finally, using the contact centroid algorithm, introduced in [1], position of contact points during grasping are determined. This paper shows the design and implementation of the device, as well as some preliminary experimental validation.
AB - Measuring contact forces applied by a hand to a grasped object is a necessary step to understand the mysteries that still hide in the unparalleled human grasping ability. Nevertheless, simultaneous collection of information about the position of contacts and about the magnitude and direction of forces is still an elusive task. In this paper we introduce a wearable device that addresses this problem, and can be used to measure generalized forces during grasping. By assembling two supports around a commercial 6-axis force/torque sensor we obtain a thimble that can be easily positioned on a fingertip. The device is used in conjunction with an active marker-based motion capture system to simultaneously obtain absolute position and orientation of the thimbles, without requiring any assumptions on the kinematics of the hand. Finally, using the contact centroid algorithm, introduced in [1], position of contact points during grasping are determined. This paper shows the design and implementation of the device, as well as some preliminary experimental validation.
UR - http://www.scopus.com/inward/record.url?scp=84929192382&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929192382&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907250
DO - 10.1109/ICRA.2014.6907250
M3 - Conference contribution
AN - SCOPUS:84929192382
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2728
EP - 2735
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 31 May 2014 through 7 June 2014
ER -