TY - GEN
T1 - Mechanical modeling of a ring-type fingertip force sensor
AU - Okuyama, Takeshi
AU - Sugimoto, Tomoki
AU - Tanaka, Mami
N1 - Funding Information:
This work is supported by KAKENHI 20H02105.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this paper, focusing on the relationship between tendon tension and force applied to the fingertip, we develop a ring-type sensor that estimate fingertip force from tendon tension. To establish the measurement principle, mechanical models were constructed in three steps for sensor structure, deformation of finger and sensor, and finger kinematics. By integrating those mechanical relationships, we derived a relation expression between ring-type sensor output and fingertip force. In addition, we conducted experiments in which the developed ring-type fingertip force sensor was attached to the index finger and force was applied to the fingertip. As the results, it was confirmed that the fingertip force could be estimated by using the derived relational expressions both when the finger was extended and when it was bent. The results showed the validity of the mechanical models and the effectiveness of the sensor. These results provide important insights that will be useful for future sensor design and applications.
AB - In this paper, focusing on the relationship between tendon tension and force applied to the fingertip, we develop a ring-type sensor that estimate fingertip force from tendon tension. To establish the measurement principle, mechanical models were constructed in three steps for sensor structure, deformation of finger and sensor, and finger kinematics. By integrating those mechanical relationships, we derived a relation expression between ring-type sensor output and fingertip force. In addition, we conducted experiments in which the developed ring-type fingertip force sensor was attached to the index finger and force was applied to the fingertip. As the results, it was confirmed that the fingertip force could be estimated by using the derived relational expressions both when the finger was extended and when it was bent. The results showed the validity of the mechanical models and the effectiveness of the sensor. These results provide important insights that will be useful for future sensor design and applications.
KW - Fingertip force
KW - Ring-type sensor
KW - Tendon
KW - Tension
UR - http://www.scopus.com/inward/record.url?scp=85142720442&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85142720442&partnerID=8YFLogxK
U2 - 10.1109/SMC53654.2022.9945291
DO - 10.1109/SMC53654.2022.9945291
M3 - Conference contribution
AN - SCOPUS:85142720442
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 1718
EP - 1723
BT - 2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022
Y2 - 9 October 2022 through 12 October 2022
ER -