5-D Force Control System for Fingernail Imaging Calibration
This paper presents a low-cost automated system that is able to apply a 5-degree-of-freedom (DOF) force on a human fingertip with high precision. It is designed to be used as a calibration platform for the previous proposed fingernail imaging system, and as a haptic system. 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, with feedback from 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 force with a settling time of less than 0.25 seconds. Two force trajectories are designed for fast and sufficient calibrations. A calibration experiments demonstrated that the system tracked the trajectories with an interval of 0.3 seconds, and step sizes of 0.1 N and 1 N·mm with root-mean-squared errors of 0.02 - 0.04 N for forces and 0.39 N·mm for torque.
Yun Lin Yu Sun
Department of Computer Science and Engineering,University of South Florida
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1374-1379
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）