02210nas a2200217 4500008003900000245007700039210006900116260001700185300001600202520152500218653001201743653001301755100001401768700001701782700001701799700001801816700001701834700002001851700001501871856010601886 2014 d00aThe Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps0 aPatched Intrinsic Tactile Object a Tool to Investigate Human Gra aChicago, USA a1261 - 12683 a

In this paper we report on the development of a modular multi-DoF F/T sensor and its use in the implementation of a sensorized object capable of multi-touch detection. The sensor is composed of six 6-axis F/T sensors spatially organized on the faces of a cube. Different calibration methods are presented to directly tackle the coupling phenomena inherent to the spatial organization of the faces and the lightweight construction of the sensor which would have, otherwise, degraded its accuracy. To assess the performances of the calibration methods, a comparison is reported with respect to the measurements obtained with a commercial force/torque sensor considered as ground truth (ATI Delta). Thanks to the modular design and the possibility to cover the sensitive faces with surface patches of different geometry, a variety of sensorized objects with different shapes can be realized. The peculiar feature that all the components of the contact wrench can be measured on each face with high accuracy, renders it a unique tool in the study of grasp force distribution in humans, with envisioned use both in neuroscience investigations and robotic applications.

10aHaptics10aRobotics1 aSerio, A.1 aRiccomini, E1 aTartaglia, V1 aSarakoglou, I1 aGabiccini, M1 aTsagarakis, N G1 aBicchi, A. uhttp://95.110.227.16/publications/patched-intrinsic-tactile-object-tool-investigate-human-grasps.html