A Scalable Haptic Circuit for Multi-digit Grasps

This paper summarizes the design, build, and tests of a 4-sensor haptic circuit designed to assess grip force in various bimanual weight assessment tasks. Experiment 1 details the haptic circuit, together with the initial tests on force and corresponding voltage. Results underline that the system is reliable at assessing normal grip force and can assess forces corresponding to a range of weights between 150g and 1000g. In Experiment 2, we present hand-specific differences in grip normal force data collected from 16 participants who used both of their hands to hold a cylindrical jar given by an experimenter. These results are discussed in the framework of bimanual weight perception research.