Identification of the relationships between noncontact capacitive sensing
Zheng, Enhao1; Wang, Qining2; Qiao, Hong1
2018
Conference Namethe 40th International Engineering in Medicine and Biology Conference
Conference DateJuly 17-21, 2018
Conference PlaceHonolulu, Hawaii, USA
AbstractThis study explores the relationships between
noncontact capacitive sensing signals and continuous grasp
forces. It is a crucial step towards the volitional control of
robotic systems based on the noncontact sensing approach. We
firstly designed a measurement system including the capacitive
sensing front-ends, the grasp force sensor, the signal sampling
circuits and the graphic user interface. The capacitive sensing
front-end was specifically designed for human forearm signal
sampling, which was worn outside of the clothes. After implementation
of the system, we carried out experiments on
five healthy subjects, and the sensing bands were customized
with their arm shapes. The grasp force and the capacitance
signals were record simultaneously when the subjects gradually
increased the force according to instruction. Linear regression
and quadratic regression were used to evaluate the regulated
signals. For each subject, at least one channel of capacitance
signals were linear correlated to the normalized grasp force
with R2>0.85. We found there was inter-subject similarity on
the capacitance-force relationships. Cross validation on grasp
force estimation with capacitance signals were also carried
out, and the average relative estimation error was about 18%.
The results proved the feasibility of the noncontact capacitive
sensing method for human joint force estimation.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21730
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Affiliation1.The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
2.College of Engineering, Peking University
Recommended Citation
GB/T 7714
Zheng, Enhao,Wang, Qining,Qiao, Hong. Identification of the relationships between noncontact capacitive sensing[C],2018.
Files in This Item: Download All
File Name/Size DocType Version Access License
Identification of th(1193KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zheng, Enhao]'s Articles
[Wang, Qining]'s Articles
[Qiao, Hong]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zheng, Enhao]'s Articles
[Wang, Qining]'s Articles
[Qiao, Hong]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zheng, Enhao]'s Articles
[Wang, Qining]'s Articles
[Qiao, Hong]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Identification of the relationships between noncontact capacitive sensing signals and continuous grasp forces Preliminary study.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.