Title :
Dynamic features and prediction model for imaging the fingernail to measure fingertip forces
Author :
Sun, Yu ; Hollerbach, John M. ; Mascaro, Stephen A.
Author_Institution :
Sch. of Comput., Utah Univ., Salt Lake City, UT
Abstract :
As an extension of our previous work on estimating fingertip forces by imaging the fingernail (Y. Sun, et al., 2006), the dynamic features of the coloration response of different parts of the fingernail and surrounding skin to different force levels are studied. The effect of the cardiovascular state on measurable coloration is also characterized. The accuracy of normal force estimated by generalized least squares is presented. A time compensation method for fast force estimation is presented, based on a knowledge of the time constants from the dynamic response of individual fingernail regions
Keywords :
compensation; force control; force measurement; least squares approximations; manipulator kinematics; cardiovascular state; fast force estimation; fingernail imaging; fingertip force measurement; generalized least squares; time compensation; Cameras; Cities and towns; Computer interfaces; Force measurement; Force sensors; Humans; Instruments; Predictive models; Sensor arrays; Skin;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642127
