The Pinch Sensor: An Input Device for In-Hand Manipulation with the Index Finger and Thumb

被引：0
作者：
Wang, Cong [1 ]
Vungarala, Deepak [1 ]
Navarro, Kevin [2 ]
Adwani, Neel [3 ]
Han, Tao [1 ]
机构：
[1] New Jersey Inst Technol, Elect & Comp Engn, Newark, NJ 07103 USA
[2] New Jersey Inst Technol, Mech & Ind Engn, Newark, NJ USA
[3] Univ Petr & Energy Studies, Dept Informat, Dehra Dun, Uttarakhand, India
来源：
2023 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, AIM | 2023年
基金：
美国国家科学基金会;
关键词：
input devices; in-hand manipulation; haptics; teleoperation; virtual reality; design; sensing;
D O I：
10.1109/AIM46323.2023.10196268
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the Pinch Sensor, an elastic input device to sense the fine motion and pinch force of the index finger and thumb - the two most used digits of human hands for in-hand object manipulation skills. In addition to open and close, the device would allow a user to control a robotic or simulated two-finger hand to reorient an object in three different ways and their combinations. A unique design of elastic sensing provides the users a high degree of perception resolution, as well as the sensation of holding an object with a certain level of stiffness between the index finger and thumb. These characteristics help the users to fine control the pinch force while carrying out manipulation skills. The design features a small size that allows it to be integrated to a handheld controller. Commonly available off-the-shelf components for consumer electronics are used to achieve affordability and reliability.
引用
收藏
页码：822 / 827
页数：6
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