ICRA 2011 Paper Abstract


Paper TuP106.4

Lin, Yun (University of South florida), Sun, Yu (University of South Florida)

5-D Force Control System for Fingernail Imaging Calibration

Scheduled for presentation during the Regular Sessions "Haptics and Haptic Interfaces II" (TuP106), Tuesday, May 10, 2011, 14:25−14:40, Room 5A

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 Haptics and Haptic Interfaces, Force Control, Force and Tactile Sensing


This paper presents a low-cost automated system that is able to apply a 5-degree-of-freedom (DOF) force on a human fingertip with high precision. It is designed to be used as a calibration platform for the previous proposed fingernail imaging system, and as a haptic system. The system is composed of two Novint Falcon devices linked by two universal joints and a rigid bar to provide 5-DOF motion and force, with feedback from a 6-DOF force sensor. A force controller is designed with an inner position control to meet the calibration goal and requirement. Experiment result and analysis showed that the system was capable of controlling the force with a settling time of less than 0.25 seconds. Two force trajectories are designed for fast and sufficient calibrations. A calibration experiments demonstrated that the system tracked the trajectories with an interval of 0.3 seconds, and step sizes of 0.1 N and 1 Nmm with root-mean-squared errors of 0.02 - 0.04 N for forces and 0.39 Nmm for torque.



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