Fingertip three-dimensional contact force sensing device and fingertip three-dimensional contact force sensing method capable of reserving touch sense

Abstract

The invention relates to a fingertip three-dimensional contact force sensing device and method capable of keeping touch sense, the device is of a symmetrical structure and comprises a base, an adaptive pad is installed on the upper portion of an inner cavity of the base, side plates are connected to the two sides of the base, and radial film sensors are installed on the inner sides of the side plates; sensor grooves are symmetrically formed in the lower portion of the base, axial film sensors are installed in the sensor grooves, and the axial film sensors are correspondingly matched with contact heads symmetrically installed on the front portion of an inner cavity of the base. The method comprises the following steps: applying pressure to the three-axis pressure sensing device along different directions after the device is worn, and collecting four paths of film sensor signals and three paths of three-axis pressure sensor signals; then, sending into a multiple regression learning system, and establishing a fingertip contact force estimation model through an index GPR (General Purpose Regression); finally, the human finger wearing device applies pressure to the object, signals of the four thin film sensors are sent into a fingertip contact force estimation model, and estimated three-dimensional contact force is obtained. The invention has the characteristics of light weight, human body fitting, short calibration time and the like.

Description

technical field [0001] The invention relates to the technical field of human-computer interaction, and in particular, to a fingertip three-dimensional contact force sensing device and method that retains touch. Background technique [0002] With the continuous development of electromechanical interaction technology, intelligent control and robotics technology, advanced contact force feedback and control technology has been continuously introduced into the human-computer interaction between rehabilitation equipment and patients. In the hand function rehabilitation training involving relatively complex hand grasping movements, the measurement of the contact force between the fingertip and the grasped object provides an important method for improving the flexibility of the human-machine interaction between the human body and the rehabilitation robot and coordinating the human-machine movement. feedback information. [0003] However, most of the existing fingertip contact force...

AI Technical Summary

Problems solved by technology

In 2019, South Korea's Junghoon Park et al. (Park J, Heo P, Kim J, et al.A Finger Grip Force Sensor with an Open-Pad Structure for Glove-Type Assistive Devices[J].Sensors,2019,20(1) .) Attempts to use a custom-made capacitive sensor for a glove-style assistive device with an open finger-pulp structure, using an exponential-like function to selectively calibrate the sensor, showed a small error (0.843N) for contact forces below 5N; however, this This method can only measure the magnitude of the contact force in one direction, and cannot provide high-quality three-dimensional force feedback signals for the rehabilitation training of fine hand movements

In 2019, Ayane Saito et al. from Japan (Saito A, Kuno W, Kawai W, et al. Estimation of Fingertip Contact Force by Measuring Skin Deformation and Posture with Photo-reflective Sensors[C] / / the 10th Augmented Human International Conference 2019.2019.) passed Using a light reflective sensor to measure the distance between the side of the fingertip and the sensor to estimate the three-dimensional contact force of the fingertip, the average error of the contact force estimation in the three directions reaches 0.661N, 1.002N and 1.071N respectively; this method is vulnerable to The influence of ambient light, and the estimation accuracy is not high

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