Accurate modeling of low-cost piezoresistive force sensors for haptic interfaces

Paredes-Madrid, Leonel; Torruella, P.; Solaeche, P.; Galiana, Ignacio; Santos, P. González de

doi:10.1109/robot.2010.5509436

Cited by 12 publications

(25 citation statements)

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“…2a [15,16], with Rs exhibiting a hyperbolical dependence on the applied force (F). Since this paper focusses on reducing the force MSE through conductance readings only, capacitance measurements are not henceforth considered.…”

Section: Experimental Set-upmentioning

confidence: 99%

“…Since this paper focusses on reducing the force MSE through conductance readings only, capacitance measurements are not henceforth considered. For linearization purposes, conductance variations -measured through Vo1 -have been preferably used in several studies to estimate F [8,9,12,15]; this is possible by inverting the model of Fig. 1e, which yields:…”

Section: Experimental Set-upmentioning

confidence: 99%

“…Likewise, authors' previous work has demonstrated that the A201 sensors, working on the piezoresistive principle, are also capable of exhibiting a piezocapacitive response. Different methods were proposed and evaluated by the authors to combine Capacitance (C s) and Conductance (Vo1) readings with the aim of increasing FSR accuracy under static loading [15,16]. It must be noted that DC/AC voltages were alternately applied to the FSRs to read Vo1 and Cs respectively, followed by a feedforward neural network to optimally combine Vo1 and Cs readings.…”

Section: Introductionmentioning

confidence: 99%

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Experimental characterization, modeling and compensation of hysteresis in force sensing resistors

Paredes-Madrid

Matute

Cruz-Pacheco

et al. 2018

DYNA

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Force Sensing Resistors (FSRs) exhibit considerable amounts of hysteresis and repeatability error inhibiting their usage in applications that require high-accurate force readings. This paper presents the hysteresis characterization and modeling of the Tekscan A201-1 FSR employing the Preisach Operator (PO) function. In order to compensate for hysteresis during sensor operation, the inverse PO was numerically found on the basis of the Closest Match Algorithm (CMA). A test bench, capable of handling sixteen sensors simultaneously, was built, which allowed the characterization and later testing of the CMA. Grip force profiles were applied to the sensors during testing and the experimental results showed a considerable reduction in the force estimation error compared with the linear regression method proposed by the manufacturer. These results enable a wider use of FSRs in applications with tight accuracy requirements. Finally, a generalized sensor model for hysteresis compensation that simplifies the obtaining of PO parameters is presented.Keywords: hysteresis; force sensing resistors; Preisach operator; closest match algorithm.Caracterización experimental, modelado y compensación de la histéresis en sensores de fuerza resistivos Resumen Los Sensores de Fuerza Resistivos (FSRs) despliegan cantidades considerables de histéresis y de error de repetitividad que inhiben su uso en aplicaciones que requieren lecturas de fuerza de alta precisión. En este trabajo se presenta la caracterización y modelado de histéresis del sensor de presión Tekscan A201-1 empleando la función Operador de Preisach (OP). Con el fin de compensar la histéresis durante el funcionamiento del sensor, el OP inverso se halló numéricamente sobre la base del algoritmo de coincidencia más cercana (CMA). Se construyó un banco de pruebas, capaz de manejar dieciséis sensores simultáneamente, lo que permitió la caracterización y posterior prueba del CMA. Los perfiles de fuerza de agarre se aplicaron a los sensores durante la prueba y los resultados experimentales mostraron una reducción considerable del error de estimación de la fuerza en comparación con el método de regresión lineal propuesto por el fabricante. Estos resultados abren el camino para un uso más amplio de los FSRs en aplicaciones con exigentes requisitos de precisión. Finalmente, un modelo de sensor generalizado para compensación de histéresis que simplifica la obtención de los parámetros PO, es presentado.Palabras clave: sensores de fuerza resistivos; operador de Preisach; algoritmo de coincidencia más cercana.

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Section: Experimental Set-upmentioning

confidence: 99%

Section: Experimental Set-upmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Experimental characterization, modeling and compensation of hysteresis in force sensing resistors

Paredes-Madrid

Matute

Cruz-Pacheco

et al. 2018

DYNA

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“…On each finger there are 3 parts or segments in which it is known as the distal phalanges, Figure 6 show the example of heptic glove constructs and built by L. Paredes et al [16]. Location of this sensor is placed under the finger where it is intended to ensure that the reaction force will be more easily interpreted through several stages that have been clarified.…”

Section: Processing Of the Force Data Collectionmentioning

confidence: 99%

“…All of the researches are trying to seeking the best solutions for measuring the fingers force. Several methods can be done by using force sensor; according to L. Paredes et al [16] the best sensor devices for measuring the finger force should have the following list of the characteristics such as repeatability for measuring the high reading, a small physical size and light weight. Sensors are also required to increase the strength and reliability, a low drift rate, low cost, and may be a function at a high temperature and appropriate including the magnetic field [16].…”

Section: Introductionmentioning

confidence: 99%

Accurate Measurement of the Force Sensor for Intermediate and Proximal Phalanges of Index Finger

Adnan¹

2012

IJCA

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In this research paper, the study for grip force on the maximum level of the various materials handling griper can be evaluate at an effective maximum isometric strength especially for intermediate and proximal phalanges of index finger. This analysis method using the piezoresistive force sensor, whereas the devices will be automatically increases the accuracy and repeatability of the force sensitivity. Force sensor is a component of flexible and easily applied to enable measurement of the non-intrusive value. The sensor can be attached to or placed on a variety of surface conditions. The physical structure of product is to be combined with plastic film or metal for increased stiffness or for added protection from abrasion. In order to determine forces acting upon an articular joint during fingers rehabilitation for maximum grip force on low cost DataGlove. The estimation show that all the action force is starting at their fingertips functioning as the total volume of gripper force, dimensions / orientation of the handle, and grip made. By measuring the gripper forces acting on the fingertips of several subjects, the different handle and level of gripper force are resulting from movement of fingers will be gathered and will be analyzed so that a realistic mathematical model structure could be produced.

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Dataglove-based interface for impedance control of manipulators in cooperative human–robot environments

Paredes-Madrid

Santos

2013

Meas. Sci. Technol.

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A dataglove-based interface is presented for tracking the forces applied by the hand during contact tasks with a 6-degree-of-freedom (DOF) manipulator. The interface uses 11 force sensors carefully placed on the palm-side fabric of a 16 DOF dataglove. The force sensors use piezoresistive technology to measure the individual force components from the hand. Based on the dataglove measurements, these components are transformed and summed to assemble the resultant force vector. Finally, this force vector is translated into the manipulator frame using orientation measurements from an inertial measurement unit placed on the dorsal side of the dataglove. Static tests show that the dataglove-based interface can effectively measure the applied hand force, but there are inaccuracies in orientation and magnitude when compared to the load cell measurements used as the reference for error calculation. Promising results were achieved when controlling the 6 DOF manipulator based on the force readings acquired from the dataglove interface; the decoupled dynamics of the dataglove interface with respect to the robot structure yielded smooth force readings of the human intention that could be effectively used in the impedance control of the manipulator.

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Accurate modeling of low-cost piezoresistive force sensors for haptic interfaces

Cited by 12 publications

References 13 publications

Experimental characterization, modeling and compensation of hysteresis in force sensing resistors

Experimental characterization, modeling and compensation of hysteresis in force sensing resistors

Accurate Measurement of the Force Sensor for Intermediate and Proximal Phalanges of Index Finger

Dataglove-based interface for impedance control of manipulators in cooperative human–robot environments

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