Experimental validation of a tactile sensor model for a robotic hand
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Institute of Electrical and Electronics Engineering (IEEE)
2010
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my.unimap-86392010-08-13T01:16:27Z Experimental validation of a tactile sensor model for a robotic hand Yahud, S. Dokos, S. Morley, J.W. Lovell, N.H. Applied forces Experimental validations Human hands Mean percentage Multiple linear regressions Sensory functions Tri-axial forces Engineering in Medicine and Biology Society (EMBC) Link to publisher's homepage at http://ieeexplore.ieee.org/ We describe a tactile sensor for a robotic hand, based on the mechanoreceptors in the glabrous skin of the human hand to replicate the sensory function of both slow adapting and fast adapting receptors. Strain gauges are used for the slow adapting receptors, and polyvinylidene fluoride (PVDF) film was used to replicate the function of the fast adapting receptors. One unit sensor consisted of four strain gauges and a single PVDF film, embedded beneath a square protrusion. The protrusion helped localize the applied force onto the region or 'receptive field' of the sensing unit. Strain gauges were orientated to enable the unit sensor to identify the tri-axial force components. Multiple linear regression was used to predict the components of force. The regression model with interaction terms gave good prediction with mean percentage errors of less than 15% for each force component. 2010-08-13T01:16:26Z 2010-08-13T01:16:26Z 2009-09-03 Working Paper p.2300-2303 978-1-4244-3296-7 1557-170X http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5335048&tag=1 http://hdl.handle.net/123456789/8639 en Proceedings of the Medicine and Biology Society (EMBC) 2009 Institute of Electrical and Electronics Engineering (IEEE) |
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Malaysia |
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Universiti Malaysia Perlis |
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| language |
English |
| topic |
Applied forces Experimental validations Human hands Mean percentage Multiple linear regressions Sensory functions Tri-axial forces Engineering in Medicine and Biology Society (EMBC) |
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Applied forces Experimental validations Human hands Mean percentage Multiple linear regressions Sensory functions Tri-axial forces Engineering in Medicine and Biology Society (EMBC) Yahud, S. Dokos, S. Morley, J.W. Lovell, N.H. Experimental validation of a tactile sensor model for a robotic hand |
| description |
Link to publisher's homepage at http://ieeexplore.ieee.org/ |
| format |
Working Paper |
| author |
Yahud, S. Dokos, S. Morley, J.W. Lovell, N.H. |
| author_facet |
Yahud, S. Dokos, S. Morley, J.W. Lovell, N.H. |
| author_sort |
Yahud, S. |
| title |
Experimental validation of a tactile sensor model for a robotic hand |
| title_short |
Experimental validation of a tactile sensor model for a robotic hand |
| title_full |
Experimental validation of a tactile sensor model for a robotic hand |
| title_fullStr |
Experimental validation of a tactile sensor model for a robotic hand |
| title_full_unstemmed |
Experimental validation of a tactile sensor model for a robotic hand |
| title_sort |
experimental validation of a tactile sensor model for a robotic hand |
| publisher |
Institute of Electrical and Electronics Engineering (IEEE) |
| publishDate |
2010 |
| url |
http://dspace.unimap.edu.my/xmlui/handle/123456789/8639 |
| _version_ |
1643789201185964032 |
| score |
13.214268 |