02077nas a2200253   4500008004100000022001400041245007300055210006900128260001200197300001200209490000600221520137200227653001201599653001301611100001801624700001601642700001701658700001501675700002001690700001401710700001601724700001501740856006801755       2016                        eng d  a1939-141200aThimbleSense: a fingertip-wearable tactile sensor for grasp analysis0 aThimbleSense a fingertipwearable tactile sensor for grasp analys  c03/2016  a121-1330 v93 a<p style="text-align: justify;"><span style="color: rgb(51, 51, 51); font-family: sans-serif; font-size: 15px; line-height: 24px;">Accurate measurement of contact forces between hand and grasped objects is crucial to study sensorimotor control during grasp and manipulation. In this work we introduce ThimbleSense, a prototype of individual-digit wearable force/torque sensor based on the principle of intrinsic tactile sensing. By exploiting the integration of this approach with an active marker-based motion capture system, the proposed device simultaneously measures absolute position and orientation of the fingertip, which in turn yields measurements of contacts and force components expressed in a global reference frame. The main advantage of this approach with respect to more conventional solutions is its versatility. Specifically, ThimbleSense can be used to study grasping and manipulation of a wide variety of objects, while still retaining complete force/torque measurements. Nevertheless, validation of the proposed device is a necessary step before it can be used for experimental purposes. In this work we present the results of a series of experiments designed to validate the accuracy of ThimbleSense measurements and evaluate the effects of distortion of tactile afferent inputs caused by the device’s rigid shells on grasp forces.</span></p>
10aHaptics10aRobotics1 aBattaglia, E.1 aBianchi, M.1 aAltobelli, A1 aGrioli, G.1 aCatalano, M. G.1 aSerio, A.1 aSantello, M1 aBicchi, A.  uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7294702