Grip Force Sensing

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 robot-aided 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. 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.

A. Erwin, F. Sergi, V. Chawda, and M. K. O’Malley. “Interaction control for rehabilitation robotics via a low-cost force sensing handle.” ASME Dynamic Systems and Control Conference (DSCC), 2013.