Identification of the relationships between noncontact capacitive sensing
Zheng, Enhao1; Wang, Qining2; Qiao, Hong1
2018
会议名称the 40th International Engineering in Medicine and Biology Conference
会议日期July 17-21, 2018
会议地点Honolulu, Hawaii, USA
摘要This 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.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/21730
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
作者单位1.The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
2.College of Engineering, Peking University
推荐引用方式
GB/T 7714
Zheng, Enhao,Wang, Qining,Qiao, Hong. Identification of the relationships between noncontact capacitive sensing[C],2018.
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