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Measuring Finger Forces by Imaging the Fingernail

通过对指甲成像来测量手指力

基本信息

批准号：
7267976
负责人：
John Matthew Hollerbach
金额：
$ 18.86万
依托单位：
UNIVERSITY OF UTAH
依托单位国家：
美国
项目类别：
财政年份：
2006
资助国家：
美国
起止时间：
2006-07-12 至 2010-06-30
项目状态：
已结题

项目摘要

DESCRIPTION (provided by applicant): The goal of this research is to measure fingertip forces by using a multi-camera system to image coloration changes in the fingernail and surrounding skin. Key advantages of this transduction method are that objects do not have to be instrumented with force sensors, and relatively unconstrained grasps can be measured. The first four specific aims develop the measurement technique, the fifth aim is to demonstrate the measurement technique in a variety of generalized grasping scenarios. 1. Each fingernail in a multi-fingered grasp will be imaged by a high-resolution 2D camera, mounted either in a fixed position or to the back of the hand via an exoskeleton-type hand master for portability. 2. A 3D model of each fingernail surface will be developed using a stereo camera system. The 2D images from each fingernail camera will be registered to the 3D surface model using fiducial markings. 3. A magnetically levitated haptic interface will apply controlled forces and torques to the fmgerpad for calibration purposes. Data on the dependence of fingernail coloration on seven variables -- normal force, shear forces and torque, orientation of the fingerpad on a flat surface, and DIP joint angle - will be obtained. 4. The best fingernail regions and their response zones will be identified using correlation analysis, and a generalized least squares estimator of fingerpad force on the seven variables will be developed. 5. Finger force distribution for varied contact locations and finger force patterns in regrasping of objects will be characterized. Development of this imaging method will significantly expand the scope of research into the control of human grasping, and could be used clinically to characterize hand function after disease or injury.

描述（由申请人提供）：本研究的目标是通过使用多摄像头系统对指甲和周围皮肤的颜色变化进行成像来测量指尖力。这种换能方法的主要优点是，物体不需要用力传感器来测量，并且可以测量相对不受约束的抓握。前四个具体目标是开发测量技术，第五个目标是在各种广义抓取场景中演示测量技术。1.多指抓取中的每个指甲将由高分辨率2D相机成像，该相机安装在固定位置或通过exoadion型手动大师安装在手背上以便于携带。2.将使用立体摄像系统开发每个指甲表面的3D模型。将使用基准标记将来自每个指甲摄像机的2D图像配准到3D表面模型。3.磁悬浮触觉接口将向指垫施加受控的力和扭矩以用于校准目的。指甲颜色依赖于七个变量的数据-法向力，剪切力和扭矩，指垫在平面上的方向，和DIP关节角度-将获得。4.最好的指甲区域和他们的响应区将被确定使用相关分析，和广义最小二乘估计的指垫力的七个变量将被开发。5.手指的力量分布的不同接触位置和手指的力量模式，在重新抓取的对象将被表征。这种成像方法的发展将显着扩大人类抓握控制的研究范围，并可用于临床表征疾病或损伤后的手功能。