Estimation of normal and tangential manipulation forces by using contact force sensors

Abstract

This article describes the design and development of a lightweight, adjustable end-effector for different haptic interfaces that estimates normal and tangential forces felt by the user during virtual object manipulation. This thimble was specially designed to provide information about the computed force exerted to the user when manipulating a virtual object with a haptic interface by using four contact force sensors (contact force sensors only measure the force component normal to its active area). Likewise, the aim of this paper is focused on the mechanical design, which relies on developing an adjustable mechanical tool non-finger-size dependant. © 2010 Springer-Verlag.