Dynamic features and prediction model for imaging the fingernail to measure fingertip forces

Author

Sun, Yu ; Hollerbach, John M. ; Mascaro, Stephen A.

Author_Institution

Sch. of Comput., Utah Univ., Salt Lake City, UT

fYear

2006

fDate

15-19 May 2006

Firstpage

2813

Lastpage

2818

Abstract

As an extension of our previous work on estimating fingertip forces by imaging the fingernail (Y. Sun, et al., 2006), the dynamic features of the coloration response of different parts of the fingernail and surrounding skin to different force levels are studied. The effect of the cardiovascular state on measurable coloration is also characterized. The accuracy of normal force estimated by generalized least squares is presented. A time compensation method for fast force estimation is presented, based on a knowledge of the time constants from the dynamic response of individual fingernail regions

Keywords

compensation; force control; force measurement; least squares approximations; manipulator kinematics; cardiovascular state; fast force estimation; fingernail imaging; fingertip force measurement; generalized least squares; time compensation; Cameras; Cities and towns; Computer interfaces; Force measurement; Force sensors; Humans; Instruments; Predictive models; Sensor arrays; Skin;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642127

Filename

1642127