Kõiva R, Schwank T, Walck G, Haschke R, Ritter H. Mechatronic fingernail with static and dynamic force sensing. In: International Conference on Intelligent Robots and Systems (IROS) . 2018. ; Our fingernails help us to accomplish a variety of manual tasks, but surprisingly only a few robotic hands are equipped with nails. In this paper, we present a sensorized fingernail for mechatronic hands that can capture static and dynamic interaction forces with the nail. Over the course of several iterations, we have developed a very compact working prototype that fits together with our previously developed multi-cell tactile fingertip sensor into the cavity of the distal phalange of a human-sized robotic hand. We present the construction details, list the key performance characteristics and demonstrate an example application of finding the end of an adhesive tape roll using the signals captured by the sensors integrated in the nail. We conclude with a discussion about improvement ideas for future versions.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Mechatronic fingernail with static and dynamic force sensing


    Beteiligte:
    Kõiva, Risto (Autor:in) / Schwank, Tobias (Autor:in) / Walck, Guillaume (Autor:in) / Haschke, Robert (Autor:in) / Ritter, Helge (Autor:in)

    Erscheinungsdatum :

    2018-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    600 / 629




    Force Prediction Using Fingernail Imaging:An Overview

    Grieve, T. / Sun, Y. / Hollerbach, J.M. et al. | British Library Conference Proceedings | 2011


    Force Prediction Using Fingernail Imaging: An Overview

    Grieve, Tom / Sun, Yu / Hollerbach, John M. et al. | Springer Verlag | 2011


    ROI Segmentation for Feature Extraction from Human Fingernail

    Gauns Dessai, Sneha N. / Borkar, Sangam | IEEE | 2018


    Three-dimensional optical recording in a human fingernail

    Takita, A. / Yamamoto, H. / Hayasaki, Y. et al. | IEEE | 2005


    Fingernail Injuries and NASA's Integrated Medical Model

    Kerstman, Eric / Butler, Doug | NTRS | 2008