Figure 1: Finger Force Calibration Stage

This research develops a 5-DOF haptic platform to apply 3-DOF force and 2-DOF torque on a fingertip.

We have developed a low-cost automated system that is able to apply a 5-degree-of-freedom (DOF) force on a human fingertip with high precision. The system is composed of two Novint Falcon devices linked by two universal joints and a rigid bar to provide 5-DOF motion and force, and a 6-DOF force sensor. A force controller is designed with an inner position control to meet the calibration goal and requirement. Experiment result and analysis showed that the system was capable of controlling the forces with a settling time of less than 0.25 seconds. Two force trajectories are designed for fast and sufficient calibrations.

Figure 2: The control diagram of the system.

Figure 3: One experimental control result of the force generated comparing with desired force.

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Participants:

Faculty	Graduate Students
Yu Sun	Yun Lin

Collaborators

John Hollerbach (University of Utah)

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Publication:
Lin Y, Sun Y (2011) 5-D Force Control System for Fingernail Imaging Calibration, IEEE Intl. Conference on Robotics and Automation, pp. 1374-1379 (pdf)

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This project is supported by USF startup grant

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