Acta IMEKO, Title
ACTA IMEKO
ISSN: 2221-870X
December 2017, Volume 6, Number 4, 100-104
ACTA IMEKO | www.imeko.org December 2017 | Volume 6 | Number 4 | 100
A new system for the measurement of gripping force based
on scattering
M. Becchetti1, R. Marsili1, F. Cannella2, A. Garinei3
1Dipartimento di Ingegneria, Università degli Studi di Perugia, Perugia, 06125, Italy
2Istituto Italiano di Tecnologia, Genova, 16163, Italy
3DMII, Università degli Studi Guglielmo Marconi, Roma, 00193, Italy
Section: RESEARCH PAPER
Keywords: Frustrated Total Internal Reflection (FTIR); fingertip contact pressure; biomechanics
Citation: M. Becchetti, R. Marsili, F. Cannella, A. Garinei, A new system for the measure of gripping force based on the scattering, Acta IMEKO, vol. 6, no. 4,
article 16, December 2017, identifier: IMEKO-ACTA-06 (2017)-04-16
Editor: Paul Regtien, Measurement Science Consultancy, The Netherlands
Received May 16, 2017; In final form December 01, 2017; Published December 2017
Copyright: © 2017 IMEKO. This is an open-access article distributed under the terms of the Creative Commons Attribution 3.0 License, which permits
unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited
Corresponding author: Roberto Marsili, e-mail: roberto.marsili@unipg.it
1. INTRODUCTION
The investigation of the mechanisms of human tactile
perception represents a fundamental topic in haptics. The
fingertip deformation is the basic mechanical action in the
tactile perception, since tactile sensitivity depends on the tissue
strain and hence on the contact area. Different models are
available to predict the behaviour of the fingertip in terms of
contact area, deformation and pressure distribution [1], [2].
Measurements are thus required both to determine the static
fingertip area and force as input to the numerical models and to
measure the area and the pressure necessary for numerical
model validation. When measuring the contact pressure, the
goal is to set up a measurement system with high sensitivity at
low pressure, since, for specific applications, the typical
pressure range of interest is from 0 to 50 kPa.
The main objective of this work is the development of a
measurement system, which allows to characterize the different
aspects of the interaction finger - contact surface, through the
measurement of the contact area and of the pressure
distribution, both on static and dynamic conditions.
Many sensors based on different physical principles have
been proposed for the measurement of pressure at contact
surface between two rigid or flexible bodies. Some contact
pressure measurement systems have been used for measuring
pressure distribution at interfaces between objects, with
application to comfort analysis and improvement of vehicle
seats [3], or steering wheel [4], for various biomedical
applications such as measurement of contact pressure between
hand and handle of a tool in order to analyse vibration
transmission to the hand [5], [6] or between foot and ground
for plantar pressure analysis [7], [8]. In [9]-[11] a new
measurement technique for the measurement of contact
pressure distributions between bodies in contact is proposed,
based on the measurement principle known as thermoelasticity.
Many applications have been developed [12]-[14] also in other
fields such as robot technology (tactile sensors), for contact
force mapping of mechanical parts. The film sensors used for
those applications are based on piezo-polymers, capacitive
ABSTRACT
The measurement of contact pressure of human fingers is very important to understand human perceptual mechanisms, that is the
main goal of most of the neuroscientific studies. It may also lead to a correct development of tactile devices and haptic systems, as
they are intended to convey controllable and effective stimuli.
In this work, an optical measurement system based on Frustrated Total Internal Reflection (FTIR) is proposed for the measurement of
the pressure distribution on the contact area between a human finger and a flat surface. The feasibility study performed shows that
the tested sensor can be effectively used for the measurement of the fingertip contact pressure both on static and dynamic
conditions.
ACTA IMEKO | www.imeko.org December 2017 | Volume 6 | Number 4 | 101
sensors, conductive ink, resistive polymers sensing elements or
magnetoresistivity [15]. However, many metrological problems
remain unresolved, due to non-linearity, material's rheological
behaviour, mounting surface curvature and shape, dynamic
characteristics, etc. Also frequency limitations can be due to the
sensor itself or to the electronic processing and data acquisition
system, when a matrix of many sensing elements is necessary.
Piezo-polymers have probably the best metrological
characteristic but cannot measure very slow fluctuations or
static pressure components. Sensors based on conductive ink or
resistive polymers showed from preliminary tests that
metrological characteristics change with time and have large
hysteresis. The capacitive sensing elements can be used to
measure both dynamic and static pressure with acceptable
linearity and hysteresis, and bendable sensors may be applied to
the wearable health monitoring/sensing system or electronic
skins, as in [16]. Here an optical measurement system based on
light scattering is developed and analysed. The outline of this
paper is as follows. First, the design of an optimized
measurement system based on Frustrated Total Internal
Reflection (FTIR) is described. Then the results of specific tests
performed on the measurement system are shown, to define its
static and dynamic behaviour and to evaluate if the proposed
measurement technique can be effectively used to measure
human fingertip mechanical properties in terms of contact area
and pressure distribution.
2. EXPERIMENTAL BACKGROUND AND SETUP
The principle of the measurement system is the light
reflection/refraction at the interface between two transparent
media. When the light passes through an interface between
media of different refractive indices, the path of travel changes
(Snell’s Law).
Thus when a light source is installed at the edge of a thin
glass plate and the incident angle ϑ1 exceeds the critical angle
ϑcritical (Figure 1a), the plate acts as a light guide. In this case
(total internal reflection) the light cannot be seen when
observing the plate from below the plate.
If a reflecting media is pressed against the plate, the surface
of the media will scatter light in the contact surface, being the
media with a refractive index different from the refractive index
of the air (Figure 1b). By observing the scattered light, it is thus
possible to view the shape of the contact surface. Depending
on the roughness of the contact surface, the contact area will
increase with the contact pressure, thus the light intensity can
be used to measure the contact pressure between the two media
(Figure 1c).
Methods based on white light refraction are used for the
measurement of normal contact stress between 'soft' structures
and a rigid planar surface, specifically for application to tire
footprint analysis [17], [18]. These systems are optimized to
measure tire footprint pressures and are not suitable for the
measurement of low pressures. The design of the proposed
measurement system was developed to permit the measurement
of low pressures that characterize human fingertip contact. The
roughness and the mechanical characteristics of the contact
surface are the most critical parameters for the realization of an
effective pressure measurement system based on FTIR. These
parameters must be carefully evaluated, because of their effects
on the range and on the sensitivity of the measurement system.
The measurement system setup is shown in Figure 2: a
sliding system realized through threaded rods permits to adjust
the camera position depending on its optics; a 200 mm x 200
mm x 200 mm darkroom was realized to avoid interference of
light from the external environment; a 150 mm x 150 mm x 10
mm glass plate was fixed on a square support with a green LED
strip installed around the perimeter.
The main characteristics of the glass plate are shown in
Table 1.
3. SYSTEM CHARACTERIZATION
3.1. Static characterization
A first static analysis of the system was performed to
characterize the behaviour of the sensor when a constant
pressure is applied on it. For this purpose, the glass plate was
covered with a thin membrane and fixed on a square support
Figure 1. Principle of measurement [17]. (a) shows the lighting system, (b)
the light scattering, (c) the detail of the contact area.
Table 1. Glass plate characteristics.
Chemical glass composition (SiO2) + oxides
Aspect Transparent
Crystallinity Amorphous
Refractive index From 1.458 to 1.86
Nominal tensile strength 4 MPa
Nominal compression strength 1 GPa
Nominal bending strength 40 MPa
Figure 2. Test bench for static calibration.
ACTA IMEKO | www.imeko.org December 2017 | Volume 6 | Number 4 | 102
with a green LED strip installed around the perimeter.
A Plexiglas frame was then realized to install the thin lattice
membrane at the top of the glass plate: the membrane is
stretched, thus there is a thin air gap (no contact) between the
membrane and the glass plate in the starting configuration. The
lattice membrane is talc-covered to increase the roughness of
the contact surface and thus the sensitivity of the measurement
system. Different test setups can be achieved by varying the
amount (thickness) of talc powder (estimated by weighing) and
using talc with different granulometry. In the work, we want to
develop a methodology for measuring the metrological
performance of the sensor, which is obtained by calibration.
Problems like the uniformity of the overlay will be faced during
prototype engineering, with a productive industrial process
more accurate than a laboratory production. In addition to
talcum, other materials can be used.
Figure 3 illustrates a typical result of the relation between
thickness and pressure for the latex membrane used.
From this result it is possible to see, in general, the non-
linear behavior of the latex membrane. However, in the
pressure range of interest (0 – 50 kPa), as a first approximation,
the curve pressure vs thickness reduction can be considered
linear.
For the static calibration, a reference pressure is applied to
the sensor by the thin membrane, which is loaded by a constant
pressure chamber, whose pressure is measured by a pressure
sensor connected to a Scandura Pascal 100 system. In order to
avoid pressure losses, the contact between the pressure
chamber and the glass plate is realized through an O-Ring for
pneumatic applications (Figure 2).
The reference pressure varies from 0 Pa to 100 kPa, that is
the maximum pressure to avoid fracture of the glass plate.
A high performance reflex digital camera (Canon EOS
1100D, with a 12.2 megapixel CMOS sensor, fast shutter speed
1/4000 s), was used to take high resolution grey-level images.
The camera was equipped with a 18-55mm f/3.5-5.6 lens: the
distance from the camera to the glass plate was adjusted
depending on the focal length of the camera. The camera
parameters (ISO settings, shutter speed, white balance) were
adjusted to obtain maximum sensitivity for the specific setup (f-
number = 5.6, exposure time = 1/8 s, ISO 400).
The raw images (4272 x 2848 pixels) were acquired with the
software Canon Eos Utility, converted in .tiff format and thus
post-processed with a Matlab toolbox. Images were acquired
for each pressure step (5000 Pa – 21 steps) in the calibration
range.
For a given pressure, the grey level of each pixel varies
depending on the pixel location and on the local characteristics
of the contact surface (roughness). Figure 4 illustrates a typical
static calibration diagram: abscissa refers to the reference
pressure, estimated by a Wika Pascal 100, with range 0 – 2.5
bar, resolution 0.01 mbar, uncertainty 0.025 % F.S.; the
ordinate refers to the grey level (range 0 ÷ 256) measured by the
sensor. The calibration curve is obtained using the method of
least squares. The uncertainty is less than 1 % full scale.
After these first measurements, a measurement area was
defined to reduce the dispersion due to the localized
imperfections of the contact surfaces (Figure 5). This is the
most effective sensing area both for static and dynamic
measurements. The optimal measurement area is a 20 × 20 mm
box.
3.2. Preliminary dynamic characterization
Then a dynamic characterization was performed by loading
the sensor with a sinusoidal excitation applied through a rigid
feeler pin (Figure 6). The compression force, generated by the
electrodynamic exciter, is measured by a load cell. The
deformation of the glass plate was so small that its effect can be
neglected.
Tests were performed using sine excitation in the linear
range of the sensor (10 − 100 kPa): typical signals obtained are
shown in Figure 7.
For the image processing specific software in LabView has
been developed (Figure 8).
Figure 4. Typical static calibration diagram for a pixel.
Figure 5. Measurement area selection.
Figure 3. Typical pressure - sensor thickness reduction curve [19].
ACTA IMEKO | www.imeko.org December 2017 | Volume 6 | Number 4 | 103
The tests are conducted changing the excitation frequency,
while keeping the level of force fixed. The ratio between system
output (gray level) and force amplitude vs frequency is plotted
in Figure 9.
These results allow establishing that a useful bandwidth is
from 0 up to 10 Hz with tolerable response decrease lower than
5 %.
Further tests are planned to determine the maximum
measurable frequency using this system.
4. CONCLUSIONS
The analysis of the contact pressure between the finger and
a contact surface is of remarkable interest in the field of
biomedical design, to characterize human fingertip mechanical
properties in terms of contact area, deformation and pressure
distribution.
In this work a measurement technique based on FTIR is
proposed for the analysis of contact pressure between the
finger and a flat contact surface (glass plate).
A FTIR measurement system was designed and tested to
evaluate the feasibility and effectiveness of this measurement
technique to measure the contact area and the pressure
necessary for numerical fingertip model validation.
Results showed that there are good assumptions to use the
sensor for the measurement of the fingertip contact pressure
both on static and dynamic conditions.
Consistency and repeatability observed at this first stage is
very encouraging for the development of an effective fingertip
pressure measurement system based on FTIR.
This will permit to analyse the behaviour of the finger for
different conditions, and thus to validate numerical models not
only in contact area and force, but also in pressure, that is
suitable for investigating the fingertip deformation on static and
dynamic conditions.
Plans for future work are to further explore new materials
for a higher sensitivity and testing different configurations with
a complete set of loading conditions.
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Figure 6. Test bench for dynamic characterization.
Figure 7. Time history output system and force.Figure x. Stamp.
Figure 8. Image processing software interface.
Figure 9. Time history output system and force.
ACTA IMEKO | www.imeko.org December 2017 | Volume 6 | Number 4 | 104
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http://dx.doi.org/10.1016/j.measurement.2014.03.005 (2014).
A new system for the measurement of gripping force based on scattering
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/NLD (Gebruik deze instellingen om Adobe PDF-documenten te maken die zijn geoptimaliseerd voor prepress-afdrukken van hoge kwaliteit. De gemaakte PDF-documenten kunnen worden geopend met Acrobat en Adobe Reader 5.0 en hoger.)
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/UKR <FEFF04120438043a043e0440043804410442043e043204430439044204350020044604560020043f043004400430043c043504420440043800200434043b044f0020044104420432043e04400435043d043d044f00200434043e043a0443043c0435043d044204560432002000410064006f006200650020005000440046002c0020044f043a04560020043d04300439043a04400430044904350020043f045604340445043e0434044f0442044c00200434043b044f0020043204380441043e043a043e044f043a04560441043d043e0433043e0020043f0435044004350434043404400443043a043e0432043e0433043e0020043404400443043a0443002e00200020042104420432043e04400435043d045600200434043e043a0443043c0435043d0442043800200050004400460020043c043e0436043d04300020043204560434043a0440043804420438002004430020004100630072006f006200610074002004420430002000410064006f00620065002000520065006100640065007200200035002e0030002004300431043e0020043f04560437043d04560448043e04570020043204350440044104560457002e>
/ENU (Use these settings to create Adobe PDF documents best suited for high-quality prepress printing. Created PDF documents can be opened with Acrobat and Adobe Reader 5.0 and later.)
>>
/Namespace [
(Adobe)
(Common)
(1.0)
]
/OtherNamespaces [
<<
/AsReaderSpreads false
/CropImagesToFrames true
/ErrorControl /WarnAndContinue
/FlattenerIgnoreSpreadOverrides false
/IncludeGuidesGrids false
/IncludeNonPrinting false
/IncludeSlug false
/Namespace [
(Adobe)
(InDesign)
(4.0)
]
/OmitPlacedBitmaps false
/OmitPlacedEPS false
/OmitPlacedPDF false
/SimulateOverprint /Legacy
>>
<<
/AddBleedMarks false
/AddColorBars false
/AddCropMarks false
/AddPageInfo false
/AddRegMarks false
/ConvertColors /ConvertToCMYK
/DestinationProfileName ()
/DestinationProfileSelector /DocumentCMYK
/Downsample16BitImages true
/FlattenerPreset <<
/PresetSelector /MediumResolution
>>
/FormElements false
/GenerateStructure false
/IncludeBookmarks false
/IncludeHyperlinks false
/IncludeInteractive false
/IncludeLayers false
/IncludeProfiles false
/MultimediaHandling /UseObjectSettings
/Namespace [
(Adobe)
(CreativeSuite)
(2.0)
]
/PDFXOutputIntentProfileSelector /DocumentCMYK
/PreserveEditing true
/UntaggedCMYKHandling /LeaveUntagged
/UntaggedRGBHandling /UseDocumentProfile
/UseDocumentBleed false
>>
]
>> setdistillerparams
<<
/HWResolution [2400 2400]
/PageSize [612.000 792.000]
>> setpagedevice