指輪型指先力センサの設計と指先力の推定に関する研究

抄録

A ring-type fingertip force sensor, focusing on changes in the tension of the flexor tendon, has been developed as a method to measure the force applied to the fingertip without obstructing fingertip sensation. In this study, to verify the effectiveness of the sensor on multiple subjects, an estimation method was investigated. This method combined two mechanical models – a sensor model showing the relationship between sensor output and the sensor protrusion, and a finger model showing the relationship between tendon tension and fingertip force with a neural network model analyzing the relationship between the reaction force on the protrusion and the tendon tension. A fingertip force estimation experiment was conducted on 10 subjects. As a result, while fingertip force could be estimated with a certain degree of accuracy, an unstable estimation phenomenon caused by the finger model was observed, indicating that further examination of this model is necessary in the future.