Construction of ring-type fingertip force measurement technology without preventing fingertip sensation and movement

2022 Fiscal Year Final Research Report

• Project/Area Number: 20H02105
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Tohoku University
• Principal Investigator: Takeshi Okuyama 東北大学, 工学研究科, 准教授 (40451538)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: 動作計測 / 力計測 / 指 / 腱 / 力学モデル / センサ

Outline of Final Research Achievements

To measure the force applied to the fingertip without affecting the sensation or movement of the fingertip, we developed a method to measure the tension of the tendon responsible for finger flexion using a ring-shaped sensor without placing a sensor on the fingertip. First, a mechanical model of the relationship between the measured values and the force applied to the fingertip was constructed. A relational equation based on the mechanical model was derived and some parameters in the equation were identified. And estimation experiments were conducted, and it was found that the fingertip force could be estimated by using the relational equation. Using a machine-learning model, we also showed that the fingertip force can be estimated from only the measured values obtained from the two ring-shaped sensors.

Free Research Field

生体医工学

Academic Significance and Societal Importance of the Research Achievements

開発した腱張力に着目した指輪型指先力センサは、指先にセンサを配置しないことが特徴であり、医療やリハビリテーション、スポーツ、芸術など様々な分野での手指動作の評価に有用な手法である。医療分野における手技の効果的なトレーニングや評価に活用することで、より安全で安心な医療環境の整備などに役に立つことが期待される。このセンサの計測原理に関する力学モデルが構築できたことは、センサの精度向上や設計のために不可欠な成果である。