Robotic Finger Force Sensor Fabrication and Evaluation Through a Glove.

This force-feedback approach compares the effect on the sensing ability through a worn glove of the force application of an i-Limb Ultra robotic hand for several experimental scenarios. A Takktile sensor was integrated into a fabricated fingertip to measure the applied force of the i-Limb Ultra. A controller was then designed using MATLAB/Simulink to manipulate the finger motion of the i-Limb to apply force to an external load cell. Testing was performed to check the force measurements and sensing ability/quality for two cases: hand with no glove and hand with a nitrile glove. Each of these scenarios were tested by applying fingertip force in 3 different modes: open/close with no contact, continuous tapping and constant force.