Abstract
In this section, I presented two instrumented objects designed to be grasped with three-digit finger posture. Four different force/torque sensors are fixed in a profitably configuration to allow measures of contact forces exerted by each finger and the external wrench. Changing the stiffness at each contact independently is possible by two different haptic solutions. Experimental results show the validity and utility of proposed devices to investigate human grasp proprieties. As evidenced in the previous chapter, these systems constrain the hand posture throughout the grasp phase but allow to measure all: (i) the contact positions and (ii) the force/torque components at each contact. In the next subsections, the devices are described and validated in a more detailed way.
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Notes
- 1.
The static accuracy of the Polhemus system, in terms of Root Mean Square Error (RMS) is \(0.03\, in \cong 0.762\, mm\) for the position and \(0.15^{\circ }\) for the orientation.
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Altobelli, A. (2016). Sensorized Object Approach. In: Haptic Devices for Studies on Human Grasp and Rehabilitation. Springer Series on Touch and Haptic Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-47087-0_3
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DOI: https://doi.org/10.1007/978-3-319-47087-0_3
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