RT Journal Article
T1 Assistive handlebar based on tactile sensors: control inputs and human factors
A1 Trujillo-León, Andrés
A1 Bachta, Wael
A1 Castellanos-Ramos, Julián
A1 Vidal-Verdú, Fernando
K1 Detectores
AB Tactile sensors can be used to build human-machine interfaces, for instance in isometric joysticks or handlebars. When used as input sensor device for control, questions arise related to the contact with the human, which involve ergonomic aspects. This paper focuses on the example application of driving a powered wheelchair as attendant. Since other proposals use force and torque sensors as control input variables, this paper explores the relationship between these variables and others obtained from the tactile sensor. For this purpose, a handlebar is instrumented with tactile sensors and a 6-axis force torque sensor. Several experiments are carried out with this handlebar mounted on a wheelchair and also fixed to a table. It is seen that it is possible to obtain variables well correlated with those provided by force and torque sensors. However, it is necessary to contemplate the influence of issues such as the gripping force of the human hand on the sensor or the different kinds of grasps due to different physical constitutions of humans and to the inherent random nature of the grasp. Moreover, it is seen that a first step is necessary where the contact with the hands has to stabilize, and its characteristics and settle time are obtained
PB Sensors, MDPI
YR 2018
FD 2018
LK https://hdl.handle.net/10630/32866
UL https://hdl.handle.net/10630/32866
LA eng
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 4 mar 2026