ICRA 2011 Paper Abstract


Paper TuA212.4

Sun, Yu (University of South Florida)

Fingertip Force and Contact Position and Orientation Sensor

Scheduled for presentation during the Regular Sessions "Force and Tactile Sensing" (TuA212), Tuesday, May 10, 2011, 10:50−11:05, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Force and Tactile Sensing, Contact Modelling, Grasping


This paper presents a novel integrated system that is composed of a fingerprint sensor and a force sensor to measure contact position and orientation of the fingertip along with the contact force. The system uses fingerprints from the fingerprint sensor to identify the contact position and orientation with fingerprint features such as core point and ridge orientations. The contact position and orientation are represented in a fingerpad coordinate system for grasping studies. An experiment has been designed to evaluate the proposed system in terms of accuracy and resolution with three subjects. The proposed system can be used in human grasping studies to characterize the fingerpad contact.



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