Title

Force Prediction Using Fingernail Imaging: An Overview

Document Type

Book Chapter

Publication Date

2011

Keywords

force sensing, haptics, grasping

Digital Object Identifier (DOI)

https://doi.org/10.1007/978-3-642-19539-6_3

Abstract

This paper presents a method for automatically calibrating a fingernail imaging system used to detect arbitrary three-dimensional force on the human fingerpad. The calibration is accomplished using a Magnetic Levitation Haptic Device modified to apply calibrated forces through a flat plate to the fingerpad.

The technique explained here is shown to accurately predict arbitrary shear force with RMS error of 0.3 N (which is 3% of the full range of ±5 N) and normal force with RMS error of 0.5 N (which is 5% of the full range of 0 − 10 N). The paper also demonstrates the model and explains some of the methods used to compensate for nonlinearities in the fingernail coloration response.

Was this content written or created while at USF?

Yes

Citation / Publisher Attribution

In J.A. Cetto, J.L. Ferrier, & J. Filipe (eds). Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 89. Berlin, Germany: Springer.