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Robotic Finger Force Sensor Fabrication and Evaluation Through a Glove.
Craig Ades1, Iker Gonzalez2, Mostapha AlSaidi1
1Ocean &Mechanical Engineering Department College of Engineering and Computer Science. Florida Atlantic University. 777 Glades RD EW 178, Boca Raton, FL.
Proceedings. Florida Conference on Recent Advances in Robotics
|December 20, 2021
Summary
This study evaluated how well a robotic hand's force feedback works with and without a glove. Results show the glove impacts force sensing, crucial for prosthetic control.
Area of Science:
- Robotics
- Biomedical Engineering
- Human-Computer Interaction
Background:
- Robotic hands require precise force feedback for effective control.
- Glove use can alter the sensory feedback experienced by users of prosthetic devices.
Purpose of the Study:
- To assess the impact of a nitrile glove on the force-sensing capabilities of the i-Limb Ultra robotic hand.
- To quantify differences in force measurement and sensing quality with and without a glove.
Main Methods:
- Integrated a tactile sensor into a robotic fingertip to measure applied forces.
- Developed a MATLAB/Simulink controller to manage robotic hand movements and force application.
- Tested force sensing in two conditions (gloved and ungloved) across three force application modes (no contact, tapping, constant force).
Main Results:
- The nitrile glove significantly affected the force measurements and sensing quality of the robotic hand.
- Variations in force sensing were observed across different application modes.
Conclusions:
- Glove use introduces a measurable alteration to the force feedback system of the i-Limb Ultra.
- These findings are critical for optimizing control strategies and improving sensory feedback in prosthetic applications.
