Grip Force Sensing
This work investigates the possibility of implementing force-feedback controllers using measurement of interaction force obtained through force-sensing resistors (FSRs), to improve performance of human interacting robots. A custom sensorized handle was developed, with the capability of simultaneously measuring grip force and interaction force during robotaided rehabilitation therapy. Experiments are performed in order to assess the suitability of FSRs to implement force-feedback interaction controllers. In the force-feedback control condition, the applied force for constant speed motion of a linear 1DOF haptic interface is reduced 6.1 times compared to the uncontrolled condition, thus demonstrating the possibility of improving transparency through force-feedback via FSRs.
A. Erwin, F. Sergi, V. Chawda, a nd M. K. O’Malley. “Interaction control for rehabilitation robotics via a low-cost force sensing handle.” ASME Dynamic Systems and Control Conference (DSCC), 2013.
A. U. Pehlivan, F. Sergi, A. Erwin, N. Yozbatiran, G. E. Francisco, and M. K. O’Malley. “Design and validation of the RiceWrist-S exoskeleton for robotic rehabilitation after incomplete spinal cord injury.” Robotica Special Issue, vol. 32, no. 8, pp. 1415-1431, 2014.