A strain gage tactile sensor for finger-mounted applications

This paper describes a strain gage-based sensor used for measuring finger force. The theory, design, and sensor construction details are presented. It was constructed using commercial strain gages and a carefully designed structure which has a protection device that impedes the sensor damage when forces higher than 100 N are applied. Its dimensions are suitable for measuring thumb forces but the same design can be used for constructing smaller sensors for other fingers. It is rugged, presents linear response, excellent repeatability resolution of 0.3 N, no hysteresis, and sensitivity of 0.12 V/N. It can be useful in rehabilitation engineering, biomechanics, robotics, and medicine