Predicting Fingertip Forces by Imaging Coloration Changes in the Fingernail and Surrounding Skin

This paper presents an external camera method for measuring fingertip forces by imaging the fingernail and surrounding skin. A 3-D model of the fingernail surface and skin is obtained with a stereo camera and laser striping system. Subsequent images from a single camera are registered to the 3-D mod...

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Bibliographic Details
Published in:IEEE transactions on biomedical engineering 2008-10, Vol.55 (10), p.2363-2371
Main Authors: Sun, Yu, Hollerbach, John M., Mascaro, Stephen A.
Format: Article
Language:English
Subjects:
Calibration
Cameras
Cities and towns
Color
Force measurement
Force sensing
Force sensors
haptics
human grasping
Humans
Imaging
Imaging, Three-Dimensional - instrumentation
Imaging, Three-Dimensional - methods
Instruments
Lasers
Least squares method
Mathematical models
Models, Biological
Nails - physiology
Pattern Recognition, Automated - methods
Pinch Strength - physiology
Pressure
registration
Sensor arrays
Skin
Skin Pigmentation - physiology
Sun
Touch
Transducers, Pressure
Video Recording - instrumentation
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Description
Summary:This paper presents an external camera method for measuring fingertip forces by imaging the fingernail and surrounding skin. A 3-D model of the fingernail surface and skin is obtained with a stereo camera and laser striping system. Subsequent images from a single camera are registered to the 3-D model by adding fiducial markings to the fingernail. Calibration results with a force sensor show that the measurement range depends on the region of the fingernail and skin. A generalized least squares model is developed to predict fingertip force given coloration changes, and results for normal and shear force measurement are presented.
ISSN:0018-9294
1558-2531
DOI:10.1109/TBME.2008.925691