Mechanical modeling of a ring-type fingertip force sensor

Takeshi Okuyama, Tomoki Sugimoto, Mami Tanaka

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish
Title of host publication2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781665452588
Publication statusPublished - 2022
Event2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022 - Prague, Czech Republic
Duration: 2022 Oct 92022 Oct 12

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X


Conference2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022
Country/TerritoryCzech Republic


  • Fingertip force
  • Ring-type sensor
  • Tendon
  • Tension

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction


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