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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
3-D force control on the human fingerpad using a magnetic levitation device for fingernail imaging calibration
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Thomas Grieve, Department of Mechanical Engineering, University of Utah, USA
Yu Sun, School of Computing, University of Utah, USA
John M. Hollerbach, School of Computing, University of Utah, USA
Stephen A. Mascaro, Department of Mechanical Engineering, University of Utah, USA
This paper demonstrates fast, accurate, and stable force control in three axes simultaneously when a flat surface is pressed against the human fingerpad. The primary application of this force control is for the automated calibration of a fingernail imaging system, where video images of the human fingernail are used to predict the normal and shear forces that occur when the fingerpad is pressed against a flat surface. The system consists of a six degree-of-freedom magnetic levitation device (MLD), whose flotor has been modified to apply forces to the human fingerpad, which is resting in a passive restraint. The system is capable of taking simultaneous steps in normal force and two axes of shear forces with a settling time of less than 0.2 seconds, and achieves a steady-state error as small as 0.05 N in all three axes. The system is also capable of tracking error of less than 0.2 N when the shear force vector rotates with a frequency of 1 rad/s. This paper also demonstrates the successful tracking of a desired force trajectory in three dimensions for calibrating a fingernail imaging system.
Citation:
Thomas Grieve, Yu Sun, John M. Hollerbach, Stephen A. Mascaro, "3-D force control on the human fingerpad using a magnetic levitation device for fingernail imaging calibration," whc, pp.411-416, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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