Grasping Detection with Force Sensor Embedded in a Hand Exoskeleton
This paper presents the results of the force measurements performed with an industrial-grade load cell embedded in the linkage of a hand exoskeleton. The force sensor is placed such that it measures the interaction force between the index finger of the user and the actuator that controls its motion. This architecture has been used in an experimental test in which users had to grasp an object (cup or bottle), interact with it and then release it. Force measurements shows that this disposition allows to discern between successful and unsuccessful grasping.
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