3-D Fingertip Touch Force Prediction Using Fingernail Imaging With Automated Calibration

This paper presents an automated routine for calibrating a fingernail imaging system, with the intent of predicting fingerpad forces. The system uses a magnetic levitation haptic device to apply forces to the human fingerpad while recording images of the nail and surrounding skin. A novel force cont...

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Bibliographic Details
Published in:IEEE transactions on robotics 2015-10, Vol.31 (5), p.1116-1129
Main Authors: Grieve, Thomas R., Hollerbach, John M., Mascaro, Stephen A.
Format: Article
Language:English
Subjects:
Biomechanics
Calibration
Cameras
Controllers
Force
force control
force measurement
force sensors
Human-computer interaction
Joints
Light emitting diodes
nonlinear control systems
Robotics
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Summary:This paper presents an automated routine for calibrating a fingernail imaging system, with the intent of predicting fingerpad forces. The system uses a magnetic levitation haptic device to apply forces to the human fingerpad while recording images of the nail and surrounding skin. A novel force controller is implemented to interact stably with the human fingerpad. The data are used to calibrate a principal component regression model relating pixel intensity to 3-D force. Using data from this automated routine, this model simultaneously predicts 3-D force with an RMS error of 0.56 ± 0.03 N (7.7% of the full range of forces).
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2015.2459411