| Sun, Yu: Ph.D. student School of Computing, University of Utah |
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The goal of this project is to measure fingertip forces by using a multi-camera system to image coloration changes in the fingernail and surrounding skin. Key advantages of this transduction method are that objects do not have to be instrumented with force sensors, and relatively unconstrained grasps can be measured. Grasping studies to date have required the design of special test objects using key-like touch pads instrumented with force sensors, but the new technique now allows the characterization of grasp forces for ordinary objects of arbitrary shape. It also allows the measurement of fingertip forces when regrasping and manipulating objects, where the contact points change in an unpredetermined manner. |
| Researchers: | Yu Sun, John Hollerbach, and Stephen Mascaro | |
| Project webpage |
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Publications: |
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Y. Sun, J. M. Hollerbach and S. A. Mascaro, Predicting Fingertip Forces by Imaging Coloration Changes in the Fingernail and Surrounding Skin, IEEE Transactions on Biomedical Engineering (in press) |
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Y. Sun, J.M. Hollerbach, and S.A. Mascaro, "Measuring fingertip forces
by imaging the fingernail," Proc 14th Symposium on Haptic Interfaces
for Virtual Environment and Teleoperator Systems, Alexandria, VA,
March 25-26, 2006. |
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Y. Sun, J.M. Hollerbach, and S.A. Mascaro, "Dynamic Features and Prediction Model for Imaging the Fingernail to Measure Fingertip Forces," Proc IEEE International Conference on Robotics and Automation, Orlando, FL,May 15-19, 2006. |
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