抄録
To analyze grasping, many kind of touch sensors for detecting fingertip contact force are developed. However, feeling of direct touch is usually inhibited in these sensors, since sensor device is placed between a finger pad and a grasped object. To overcome this issue, we estimate fingertip contact force using fingernail strain and a linear regression model that relates contact force and fingernail strain. In this research, we present the overview of the estimation system and estimation algorithm. As a result of validation, the errors in force estimation are turned out to be 10 % in tangential and 20 % in normal direction force.
