The Pinch Sensor: An Input Device for In-Hand Manipulation with the Index Finger and Thumb

Document Type

Conference Proceeding

Publication Date

1-1-2023

Abstract

This paper presents the Pinch Sensor, an elastic input device to sense the fine motion and pinch force of the index finger and thumb - the two most used digits of human hands for in-hand object manipulation skills. In addition to open and close, the device would allow a user to control a robotic or simulated two-finger hand to reorient an object in three different ways and their combinations. A unique design of elastic sensing provides the users a high degree of perception resolution, as well as the sensation of holding an object with a certain level of stiffness between the index finger and thumb. These characteristics help the users to fine control the pinch force while carrying out manipulation skills. The design features a small size that allows it to be integrated to a handheld controller. Commonly available off-the-shelf components for consumer electronics are used to achieve affordability and reliability.

Identifier

85168415072 (Scopus)

ISBN

[9781665476331]

Publication Title

IEEE ASME International Conference on Advanced Intelligent Mechatronics AIM

External Full Text Location

https://doi.org/10.1109/AIM46323.2023.10196268

First Page

822

Last Page

827

Volume

2023-June

Grant

1944069

Fund Ref

National Science Foundation

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