论文标题
使用指甲成像和视觉陶器比较受约束和不受约束的人掌握力
Comparison of Constrained and Unconstrained Human Grasp Forces Using Fingernail Imaging and Visual Servoing
论文作者
论文摘要
指甲成像已被证明在先前的工作中有效[1]，[2]，用于估计3D指尖力，最大RMS估计误差为7％。在当前的研究中，指甲成像用于在多个手指上进行无约束的抓握力测量以研究人抓握。此外，已经设计了两个带安装摄像头的机器人臂和一个视觉跟踪系统，以使人的手指在实验过程中保持在摄像头框架中。在受约束和不受约束的抓握条件下，已经对六个人类受试者进行了实验测试，结果表明两个抓握条件之间的手指之间的力协作存在显着差异。根据实验，另一个有趣的结果是，与受约束的抓握，无约束的抓握力相比，在手指上分布更均匀，并且每个手指力的力变化（更稳定）较小。这些结果证明了以不受约束的方式测量掌握力的重要性，以研究人类自然掌握物体的方式。
Fingernail imaging has been proven to be effective in prior works [1],[2] for estimating the 3D fingertip forces with a maximum RMS estimation error of 7%. In the current research, fingernail imaging is used to perform unconstrained grasp force measurement on multiple fingers to study human grasping. Moreover, two robotic arms with mounted cameras and a visual tracking system have been devised to keep the human fingers in the camera frame during the experiments. Experimental tests have been conducted for six human subjects under both constrained and unconstrained grasping conditions, and the results indicate a significant difference in force collaboration among the fingers between the two grasping conditions. Another interesting result according to the experiments is that in comparison to constrained grasping, unconstrained grasp forces are more evenly distributed over the fingers and there is less force variation (more steadiness) in each finger force. These results validate the importance of measuring grasp forces in an unconstrained manner in order to study how humans naturally grasp objects.
