Portal de Periódicos da CAPES

Sensorized Object Approach

2016; Linguagem: Inglês

10.1007/978-3-319-47087-0_3

2192-2977

Alessandro Altobelli,

Tactile and Sensory Interactions

In this section, I presented two instrumented objects designed to be grasped with three-digit finger posture. Four different force/torque sensors are fixed in a profitably configuration to allow measures of contact forces exerted by each finger and the external wrench. Changing the stiffness at each contact independently is possible by two different haptic solutions. Experimental results show the validity and utility of proposed devices to investigate human grasp proprieties. As evidenced in the previous chapter, these systems constrain the hand posture throughout the grasp phase but allow to measure all: (i) the contact positions and (ii) the force/torque components at each contact. In the next subsections, the devices are described and validated in a more detailed way.