A Wearable Three-Axis Tactile Sensor for Human Fingertips
A Wearable Three-Axis Tactile Sensor for Human Fingertips
复制标题
用于人体指尖的可穿戴三轴触觉传感器
DOI：
10.1109/lra.2018.2864669
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发表时间：
2018
影响因子：
5.2
通讯作者：
Sugano Shigeki
中科院分区：
文献类型：
--
作者：
Kristanto Harris;Sathe Prathamesh;Schmitz Alexander;Tomo Tito Pradhono;Somlor Sophon;Sugano Shigeki
人类训练数据可以作为机器人模仿学习的支架。然而，大多数数据手套只记录关节角度，但对于许多任务，力控制更重要。它们还覆盖着人类的皮肤，从而使人与物体的自然互动变得不可能。这封信推荐了一种可穿戴的传感器，它可以测量指尖施加的三轴力矢量，而不会覆盖接触物体的皮肤。利用安装在指尖两侧的两个基于霍尔效应的小型三轴传感器，测量了指尖受力向量引起的指垫变形。对10个受试者的实验表明，力向量可以以合理的精度进行测量。此外，地球磁场和手指方向对手指触觉传感器测量的影响从±4N减小到±1N。
Human training data can scaffold robot imitation learning. However, most datagloves only record joint angles, but for many tasks, force control is more important. They also cover the human skin, thereby making a natural interaction of the human with the object impossible. This letter suggests a wearable sensor that can measure the three-axis force vector exerted at the fingertip, without covering the skin that contacts the object. Using two small-sized Hall effect based three-axis sensors mounted on the sides of the fingertips, the finger pad deformation resulting from the force vector acting on the fingertip is measured. Experiments with ten subjects show that the force vectors can be measured with reasonable precision. Furthermore, the influence of the Earth's magnetic field and the finger's orientation on the finger tactile sensor's measurement has been reduced from ±4N to ±1N .