CASIA OpenIR  > 多模态人工智能系统全国重点实验室
Multicontact Intrinsic Force Sensing Method of a Flexible Finger for Hand Assistance
Li, Guotao1; Zhang, Can2; Su, Can2; Liu, Zhijie3; Liang, Xu4; Cheng, Long1; Zeng-Guang Hou1
Source PublicationIEEE Transactions on Instrumentation and Measurement
ISSN0018-9456
2024
Volume73Pages:1-12
Corresponding AuthorCheng, Long(long.cheng@ia.ac.cn) ; Hou, Zeng-Guang(zengguang.hou@ia.ac.cn)
Abstract

Flexible finger exoskeletons for hand assistance need multicontact forces sensing ability to guarantee good interaction between the exoskeletons and the human finger. However, force sensing of flexible fingers, especially in multicontact situations, remains challenging. To solve this problem, this article first proposes a variable-curvature quasi-static analytical modeling method for a novel nonparallel flexible finger, considering multipoint external forces and friction. Second, a force sensing method of the flexible finger is proposed based on the quasi-static analytical model to realize single-contact and multicontact force estimation. Third, a parameter optimization method is proposed to obtain optimal parameters of the quasi-static model to improve the force sensing accuracy. Finally, single-point and multipoint experiments of the flexible finger are conducted to verify the proposed force sensing method. The experimental results show that the median mean sum of the force sensing errors of the proposed force sensing method with the optimized parameters can be reduced by up to 75.9% compared with the force sensing method with the initial parameters.

KeywordForce Sensors Robot sensing systems Exoskeletons Springs Robots Friction Flexible finger force sensing multipoint contact static model
DOI10.1109/TIM.2024.3387497
WOS KeywordCONTINUUM ROBOTS ; PERFORMANCE ; DYNAMICS ; DESIGN ; INDEX
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China
Funding OrganizationNational Natural Science Foundation of China
WOS Research AreaEngineering ; Instruments & Instrumentation
WOS SubjectEngineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:001205788800018
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Sub direction classification智能机器人
planning direction of the national heavy laboratory实体人工智能系统感认知
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/56112
Collection多模态人工智能系统全国重点实验室
Corresponding AuthorZeng-Guang Hou
Affiliation1.the State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences
2.University of Mining and Technology, Beijing, China
3.China University of Mining and Technology, Beijing
4.Beijing Jiaotong University, Beijing
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Li, Guotao,Zhang, Can,Su, Can,et al. Multicontact Intrinsic Force Sensing Method of a Flexible Finger for Hand Assistance[J]. IEEE Transactions on Instrumentation and Measurement,2024,73:1-12.
APA Li, Guotao.,Zhang, Can.,Su, Can.,Liu, Zhijie.,Liang, Xu.,...&Zeng-Guang Hou.(2024).Multicontact Intrinsic Force Sensing Method of a Flexible Finger for Hand Assistance.IEEE Transactions on Instrumentation and Measurement,73,1-12.
MLA Li, Guotao,et al."Multicontact Intrinsic Force Sensing Method of a Flexible Finger for Hand Assistance".IEEE Transactions on Instrumentation and Measurement 73(2024):1-12.
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