[D92] ThimbleSense: A new wearable tactile device for human and robotic fingers

Author

Battaglia, E. ; Grioli, G. ; Catalano, Manuel G. ; Bianchi, Matteo ; Serio, Alessandro ; Santello, Marco ; Bicchi, A.

Author_Institution

Univ. di Pisa, Pisa, Italy

fYear

2014

fDate

23-26 Feb. 2014

Firstpage

1

Lastpage

1

Abstract

Summary form only given. In this demo we present a wearable device that enables to simultaneously collect information about the position of contacts and the magnitude and direction of contact forces applied by a hand to a grasped object. Such a device consists of a thimble that can be easily positioned on both human and robotic fingertips: it is endowed with a 6 axis force/torque sensor, while its absolute position and orientation can be recovered via a marker-based motion capture system, without needing for any assumption on the hand kinematics. This device can be profitably used for studying human and robotic hand behaviour in grasping tasks and haptic exploration.

Keywords

dexterous manipulators; force feedback; force measurement; force sensors; grippers; haptic interfaces; manipulator kinematics; tactile sensors; torque measurement; ThimbleSense; absolute orientation; absolute position; contact force direction; contact force magnitude; contact position; force sensor; grasped object; grasping task; hand kinematics; haptic exploration; human fingertips; human hand behaviour; information collection; marker-based motion capture system; robotic fingertips; robotic hand behaviour; thimble; torque sensor; wearable tactile device; Educational institutions; Force; Robot sensing systems; Thumb; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Haptics Symposium (HAPTICS), 2014 IEEE

Conference_Location

Houston, TX

Type

conf

DOI

10.1109/HAPTICS.2014.6775571

Filename

6775571