A three-axis force sensor for dual finger haptic interfaces.
Identifieur interne : 000C01 ( PubMed/Checkpoint ); précédent : 000C00; suivant : 000C02A three-axis force sensor for dual finger haptic interfaces.
Auteurs : Marco Fontana [Italie] ; Simone Marcheschi ; Fabio Salsedo ; Massimo BergamascoSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2012.
Abstract
In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor.
DOI: 10.3390/s121013598
PubMed: 23202012
Affiliations:
Links toward previous steps (curation, corpus...)
Links to Exploration step
pubmed:23202012Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A three-axis force sensor for dual finger haptic interfaces.</title><author><name sortKey="Fontana, Marco" sort="Fontana, Marco" uniqKey="Fontana M" first="Marco" last="Fontana">Marco Fontana</name><affiliation wicri:level="1"><nlm:affiliation>PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, Pisa 56127, Italy. m.fontana@sssup.it</nlm:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, Pisa 56127</wicri:regionArea><wicri:noRegion>Pisa 56127</wicri:noRegion></affiliation></author><author><name sortKey="Marcheschi, Simone" sort="Marcheschi, Simone" uniqKey="Marcheschi S" first="Simone" last="Marcheschi">Simone Marcheschi</name></author><author><name sortKey="Salsedo, Fabio" sort="Salsedo, Fabio" uniqKey="Salsedo F" first="Fabio" last="Salsedo">Fabio Salsedo</name></author><author><name sortKey="Bergamasco, Massimo" sort="Bergamasco, Massimo" uniqKey="Bergamasco M" first="Massimo" last="Bergamasco">Massimo Bergamasco</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2012">2012</date><idno type="doi">10.3390/s121013598</idno><idno type="RBID">pubmed:23202012</idno><idno type="pmid">23202012</idno><idno type="wicri:Area/PubMed/Corpus">000A88</idno><idno type="wicri:Area/PubMed/Curation">000A88</idno><idno type="wicri:Area/PubMed/Checkpoint">000C01</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">A three-axis force sensor for dual finger haptic interfaces.</title><author><name sortKey="Fontana, Marco" sort="Fontana, Marco" uniqKey="Fontana M" first="Marco" last="Fontana">Marco Fontana</name><affiliation wicri:level="1"><nlm:affiliation>PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, Pisa 56127, Italy. m.fontana@sssup.it</nlm:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, Pisa 56127</wicri:regionArea><wicri:noRegion>Pisa 56127</wicri:noRegion></affiliation></author><author><name sortKey="Marcheschi, Simone" sort="Marcheschi, Simone" uniqKey="Marcheschi S" first="Simone" last="Marcheschi">Simone Marcheschi</name></author><author><name sortKey="Salsedo, Fabio" sort="Salsedo, Fabio" uniqKey="Salsedo F" first="Fabio" last="Salsedo">Fabio Salsedo</name></author><author><name sortKey="Bergamasco, Massimo" sort="Bergamasco, Massimo" uniqKey="Bergamasco M" first="Massimo" last="Bergamasco">Massimo Bergamasco</name></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2012" type="published">2012</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="PubMed-not-MEDLINE"><PMID Version="1">23202012</PMID><DateCreated><Year>2012</Year><Month>12</Month><Day>03</Day></DateCreated><DateCompleted><Year>2014</Year><Month>03</Month><Day>31</Day></DateCompleted><Article PubModel="Electronic"><Journal><ISSN IssnType="Electronic">1424-8220</ISSN><JournalIssue CitedMedium="Internet"><Volume>12</Volume><Issue>10</Issue><PubDate><Year>2012</Year></PubDate></JournalIssue><Title>Sensors (Basel, Switzerland)</Title><ISOAbbreviation>Sensors (Basel)</ISOAbbreviation></Journal><ArticleTitle>A three-axis force sensor for dual finger haptic interfaces.</ArticleTitle><Pagination><MedlinePgn>13598-616</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.3390/s121013598</ELocationID><Abstract><AbstractText>In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Fontana</LastName><ForeName>Marco</ForeName><Initials>M</Initials><AffiliationInfo><Affiliation>PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, Pisa 56127, Italy. m.fontana@sssup.it</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Marcheschi</LastName><ForeName>Simone</ForeName><Initials>S</Initials></Author><Author ValidYN="Y"><LastName>Salsedo</LastName><ForeName>Fabio</ForeName><Initials>F</Initials></Author><Author ValidYN="Y"><LastName>Bergamasco</LastName><ForeName>Massimo</ForeName><Initials>M</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2012</Year><Month>10</Month><Day>10</Day></ArticleDate></Article><MedlineJournalInfo><Country>Switzerland</Country><MedlineTA>Sensors (Basel)</MedlineTA><NlmUniqueID>101204366</NlmUniqueID><ISSNLinking>1424-8220</ISSNLinking></MedlineJournalInfo><CommentsCorrectionsList><CommentsCorrections RefType="Cites"><RefSource>J Hand Surg Am. 1978 May;3(3):211-6</RefSource><PMID Version="1">659817</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Proc Inst Mech Eng H. 1990;204(3):169-78</RefSource><PMID Version="1">2133783</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Sensors (Basel). 2011;11(12):11495-509</RefSource><PMID Version="1">22247677</PMID></CommentsCorrections></CommentsCorrectionsList><OtherID Source="NLM">PMC3545583</OtherID></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2012</Year><Month>7</Month><Day>27</Day></PubMedPubDate><PubMedPubDate PubStatus="revised"><Year>2012</Year><Month>9</Month><Day>28</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2012</Year><Month>10</Month><Day>09</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2012</Year><Month>12</Month><Day>4</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2012</Year><Month>12</Month><Day>4</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2012</Year><Month>12</Month><Day>4</Day><Hour>6</Hour><Minute>1</Minute></PubMedPubDate></History><PublicationStatus>epublish</PublicationStatus><ArticleIdList><ArticleId IdType="pii">s121013598</ArticleId><ArticleId IdType="doi">10.3390/s121013598</ArticleId><ArticleId IdType="pubmed">23202012</ArticleId><ArticleId IdType="pmc">PMC3545583</ArticleId></ArticleIdList></PubmedData></pubmed><affiliations><list><country><li>Italie</li></country></list><tree><noCountry><name sortKey="Bergamasco, Massimo" sort="Bergamasco, Massimo" uniqKey="Bergamasco M" first="Massimo" last="Bergamasco">Massimo Bergamasco</name><name sortKey="Marcheschi, Simone" sort="Marcheschi, Simone" uniqKey="Marcheschi S" first="Simone" last="Marcheschi">Simone Marcheschi</name><name sortKey="Salsedo, Fabio" sort="Salsedo, Fabio" uniqKey="Salsedo F" first="Fabio" last="Salsedo">Fabio Salsedo</name></noCountry><country name="Italie"><noRegion><name sortKey="Fontana, Marco" sort="Fontana, Marco" uniqKey="Fontana M" first="Marco" last="Fontana">Marco Fontana</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PubMed/Checkpoint
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000C01 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PubMed/Checkpoint/biblio.hfd -nk 000C01 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PubMed
|étape= Checkpoint
|type= RBID
|clé= pubmed:23202012
|texte= A three-axis force sensor for dual finger haptic interfaces.
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/PubMed/Checkpoint/RBID.i -Sk "pubmed:23202012" \
| HfdSelect -Kh $EXPLOR_AREA/Data/PubMed/Checkpoint/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |