Implementation of a Finger Force Detection Platform
with a Graphical User Interface
Enzo Romero, Rocio Callupe
Department of Engineering
Pontificia Universidad Catlica del Per
Lima, Per
enzo.romero@pucp.pe, rcallup@pucp.edu.pe
AbstractThis paper presents the implementation of a Finger
force detection platform capable to measure the exerted forces by
the index, middle, ring and little finger in single-axis direction
(flexion); and in dual-axis direction (flexion/adduction) by the
thumb. It can be adapted to different sizes in both right or left
hand. A test protocol is established. Also, a Graphical User
Interface (GUI) is developed in order to assist the subject during
the test. The results show the maximum forces developed by each
finger among Peruvian participants.
KeywordsFinger force sensing; Strain gauge sensor; EMG;
Biomedical Engineering
I. INTRODUCTION
In the field of rehabilitation of people with disabilities, upper
limb prostheses have taken a great technological leap. The active
prostheses controlled by surface electromyographic (sEMG)
signal, also called myoelectric, have witnessed a great
transformation: from single degree-of-freedom (DOF), heavy
and clumsy hand prostheses, to very light and dexterous devices,
with multiple DOF such as I-limb ultra [1], BeBionic3 [2],
Michelangelo Hand [3]. Although these advanced prostheses
outperform their predecessors, they are far from being a
replacement of the original member. As observed in [4] and [5],
upper limb myoelectric prosthesis has a high rejection rate
between 30 50 %. In many cases, this rejection is subject to
different factors such as age and condition of each patient low
controllability, poor perception of the environment and a very
deficient functionality [6].
To solve this problem, the search for a more natural control
has been the main priority of several studies in the last decade
[6][7][8]. These studies have focused on identifying hand
gestures, independent finger control and estimation of the
strength of individual fingers. In these devices, different control
schemes have been used, such as the use of voice [9], mouth
gestures [10] and sEMG signals, being the sEMG the most used
method thanks to its strong relation with the movement of the
fingers [11]. Nevertheless, most of the research made on this
area use the sEMG signal to perform simple tasks such as
holding objects and performing wrist movements [12].
This work is supported by CIENCIACTIVA, a branch of CONCYTEC
PER (project nr. 160-2015), and DGI PUCP (ID N 361).
978-1-5090-6363-5/17/$31.00 2017 IEEE
Dante Elias
Department of Engineering
Pontificia Universidad Catlica del Per
Lima, Per
delias@pucp.pe
Fig. 1. CAD-rendering of the Finger force detection platform left hand
configuration : (1) ME-Mesysteme KD-60 single-axis strain-gauge sensor , (2)
Honigmann RFS 150 XY dual-axis strain-gauge sensor, (3) Thumb support, (4)
Thumb case, (5) Fingers support, (6) Forearm support, (7) Aluminium plate.
In ergonomic hand and wrist studies, there is a need to
analyze the forces generated during intense hand activities [13]
such as tools manipulation (scissors, drills, hammers, etc.),
typing, manipulation of the computer mouse, etc. In most cases,
a direct force measurement is very complicated or impossible to
carry due to the different forms of the tools, as the positions of
the hands, which is why this measurement is performed
indirectly. It is because of this reason that individual finger force
estimation with sEMG signal integration becomes a necessity in
order to improve automatic control of medical devices for
people with disabilities as well as an improvement of evaluation
tools in ergonomic studies. In order to solve this problem,
several attempts were tried in the past: Using wearable fingertip
sensors [14], sensor-arrays [15] [16], and sensor-gloves [17]
where the sensing stage was not as precisely as expected.
The platform here presented is based on the studies made by
professors Koiva and Castellini [18] [19]. It is capable to
measure precisely (overall accuracy of 0.35% over the nominal
measure range) the individual finger force applied by the person
fingertips (flexion for little, ring, middle and index; and
flexion/adduction for thumb). It can be adapted to different hand
sizes, and is guaranteed to be linear (up to 100 N). The platform
output six analog voltage values readable by a data-acquisition
(DAQ) card. The data is processed in computer and offers direct
interaction with the user through a Graphical User Interface
(GUI) where average and maximum values can be gather
following a stablished protocol. Also, it is possible with this
platform, with the help of sEMG sensors, obtain the
correlation between the forces applied by the fingertips and
the muscle activity.
The paper is structured as follows, Sec. II presents the
hardware setup. The application of measuring maximum single
forces is shown in Sec. III, this section includes the graphical
user interface, test protocol and experimental results. Finally, the
conclusions and future work are drawn in Sec. IV.
II. HARDWARE SETUP
As was described in the Sec. I, several attempts to capture
the force performed by the fingertips were realized in the past.
These configurations measure the fingers force through a variety
of sensor technologies. In this research area, the goal of the
sensor is to measure the flexion forces of the little, ring, middle,
index and thumb fingers plus the adduction force of the thumb.
This measurement must be both simultaneously and precisely.
Because of this reason, strain-gauge sensors were chosen. This
type of sensors has high accuracy, robustness and low hysteresis.
They provide linear output characteristics, making it easy the
calibration process with low values of error.
The sensors can be relocated, this is why the platform here
presented is highly configurable in order to be capable of
capturing single forces for different hand sizes, both right or left.
Fig. 1 shows a CAD-rendering of the Finger force platform
using four single-axis strain-gauge sensors for measuring the
finger forces, and a dual-axis strain-gauge sensor for measuring
the forces of the thumb. The sensors are mounted on custom
made 3D printed supports, which are secured through bolted
joints to a 2mm duralumin surface. Lower palm section and
forearm is supported on a CNC medium-density fiberboard
(MDF).
Each sensor output is connected to an individual signal
amplifier in order to transduce the applied forces (Newton) into
analog voltage. In Fig. 2, a general outline of the system
electronics architecture is shown. To acquire the analog outputs
from the signal amplifiers, a National Instruments NI-6463 Data
Acquisition Unit (DAQ) is used. This device has 32 analog 16-
bit inputs with a sampling rate of up to 500 kS/s. The 6 analog
inputs were sampled at 1KHz frequency.
Fig. 2. System electronics architecture.
A. Fingers force capture
The little, ring, middle and index finger flexion forces are
captured using ME-Mesysteme GmbH KD60/100N strain-
gauge sensors for each finger. The main criteria for its selection
lies in its range, precision and geometry. Each sensor is capable
of measuring up to 100N, has less than 0.1% linearity error and
less than 0.1% hysteresis error. Its geometry is capable of being
cantilevered, making possible the capture of the individual
fingertip force developed by the user. The strain-gauge output is
rated at 0.5mV/V. Each sensor is connected to GSV-1L
010/250/2 signal amplifiers from company ME-Mesysteme
GmbH with a resulting output of 2.5V for KD60 100N
loading.
In order to ensure the position of the fingertips on the surface
of the sensor, elastic bands were conditioned over each sensor.
They were attached using M5 bolts.
B. Thumb force capture
In order to capture the flexion/adduction force develop by
the thumb RFS 150XY-100-8-3 radial dual-axis strain-gauge
sensor from Honigmann Industrielle Elektronik GmbH 100N
is used. It has a rated output tolerance of less than 0.2%.
Internally, it has two strain-gauge sensors, each of them is
connected to a Tensiotron TS503 signal amplifier from the same
manufacturer. Nominally, a 100N loading on the sensor,
produces and output of 10V on the TS503 amplifier.
In order to make a correct reading of the developed force by
the thumb, a 3D printed case is screwed against the threaded
section of the sensor. The dimensions of the case were calculated
according to the thumb size mean of the participants.
C. Sensor calibration
In order to assure measurements of high quality, sensor
calibration is essential. Both Single and dual-axis strain-gauge
sensors are capable to calibrate with a two-point essay. First, the
zero-point is calibrated (no external forces applied). The signal
amplifiers for both type of sensors can be manually tared.
The second point of calibration is stablished whit a mass of
2.000 kg (in an exemplary gravitational field of 9.81 m/s2, the
mass of 2.000 kg evaluates to 19.62 N). Since the dial axis sensor
has independent strain-gauge sensors, it was necessary to
calibrate each direction individually.
III. APPLICATION
Eleven volunteer participants (9 males; 2 females; age 26
4yrs, min. 22, max 30) who did not present any medical
condition, participated in the data acquisition process. Two of
them reported having suffered a fracture or injury to one of their
fingers; However, they did not present any motor difficulties.
Prior to the acquisition of data, the volunteers signed a
consent document in compliance with Ethics Committee of
Pontificia Universidad Catlica del Per (PUCP).
The volunteer is seated in an adjustable height chair to ensure
the elbow forearm rests horizontally on the wood support,
levered with the table. Then, the volunteer is asked to place
 After a 1 minute rest, the test starts again. The volunteer
presses each sensor individually following the LED sequence
trying to achieve the graphical threshold value in the left side of
each level column. Each action of flexion in the fingers, as well
as flexion and adduction in the thumb is developed during 1.5
seconds, with pauses of 500 ms. Once the test is finished, a
spreadsheet matrix of the data taken is generated. The test is
performed a total of 5 times with pauses of 3 minutes between
each test.
C. Experimental Results
Table I shows the results for the five repetitions of the
sequences. As the results show, the little finger and thumb
produce similar forces during flexion; also, in this gesture, the
index finger reaches higher values than little, ring and middle
Fig. 3. Graphical User Interface implemented in LabVIEW 2016. The three finger. All subjects could produce the highest force when
buttons over the lower left corner, from left to right are: Start test;Limit adducting the thumb. No sensor limit of the strain gauges was
force, to set the threshold value at 80% of the maximun force developed; and
Finish test to collect the data from the test.
ever reached. Lastly, no volunteer reported fatigue or discomfort
during the experiment.
his/her little, ring, middle and index fingertips into the elastic
guides located at the cantilevered end of the single-axis strain- TABLE I.
gauge sensors, and to place his/her thumbs distal phalange MAXIMUM FINGER FORCES. MEAN VALUES IN NEWTONS OVER ALL
SUBJETCS, PLUS/MINUS ONE STANDARD DEVIATION.
within the 3D printed thumb case. The user is then asked to find
the most comfortable position for himself/herself.
A. Graphical User Interface
Once the volunteer is ready to start the data collection
process, the Graphical User Interface implemented in LabVIEW
2016 software is presented (Fig. 3). It consists of a set of 6 level
bars: 4 of these intended to show flexion in little, ring, middle
and index finger; and 2 bars to show the force on the X and Y
axes to measure adduction and flexion of the thumb respectively.
These bars increase or decrease their level according to the force
that the volunteer applies to the sensor. Each of these bars has a
green bar to its left side in order to establish the threshold value
of force for each action of flexion (fingers), and
flexion/adduction (thumb).
The GUI also has LED indicators: 2 arranged at the top, to
indicate the user the beginning and end of the data collection
process; 6 others indicators, under each level bar, to indicate the
user which finger is the one that is demanded to perform the
gesture. These visual indicators establish the time for each
gesture: While the LED is on, the volunteer must exert force
according to the corresponding finger-sensor configuration.
B. Test Protocol
First, initial data is taken in order to calculate the maximum
levels of force of each gesture. The volunteer is asked to start the
test when the LED located at the top has turned green. Then,
he/she must exert force with his/her greatest possible
comfortable force following the LED arrangement sequence. A
single LED stays ON for 2.5 seconds, with 500 ms pause
between each finger. The exercise is performed in a coordinated
way from little finger to thumb until the last LED in the sequence
is turned off, then the test stops. Once the maximum forces are
recorded, the program shows a graphical threshold (green
column) that is equal to 80% of the maximum forces developed
in each sensor; in the case of the thumb, two forces are presented Fig. 4. Finger Force detection platform setup capturing maxium comfortable
(Fig. 4). forces. Monitor displays visual stimulus, fingers and thumb are attached to the
platform. The upper green LED indicates session in progress.

Fig. 5. A experimental setup employing the Finger Force Detection Platform
to gather synergistic muscle acttivations. The Graphical user interface includes
real-time graphs from sEMG electrodes.
IV. CONCLUSIONS AND FUTURE WORK
In this paper, it was introduced the implementation of a
Finger force platform with a Graphical User Interface, a strain-
gauge-based device capable of measuring fingertip forces
accurately. The platform here presented measures little, ring,
middle and index finger flexion, and thumb flexion/adduction. It
can be adaptable to several different hand sizes. The strain-
gauge sensors are linear across a force range of 100N for each
finger.
The results obtained are satisfactory insofar as they are in the
range of values presented in the literature on this subject. Also,
the selection of sensors could have been of smaller range of
measurement since the greater force developed does not exceed
30 N. Finally, the use of a GUI allows a visual feedback to the
user, ensuring that the sequential test can be performed
effectively.
Future Work: The platform here presented is really helpful
to stablish finger force synergies, since each gesture can be
individually measure with independent strain-gauges. This
particularity is crucial when sEMG needs to be related to finger
forces. Experiments in this field using this platform are ongoing
at Biomechanics and Applied Robotics Laboratory in PUCP,
with the final goal of force -and impedance- based control of a
myoelectric prosthesis hand. An example setup can be seen in
Fig.5, where sEMG electrodes are used to stablish a correlation
between the developed finger forces and the sEMG data.
ACKNOWLEDGMENT
The authors gratefully acknowledge the support of the
Biomechanics and Applied Robotics Research Group GIRAB
PUCP.
REFERENCES
[1] I-Limb Ultra, [Online]. Available: www.touchbionics.com, date viewed:
8 May 2017.
[2] Bebionic, [Online]. Available: www.bebionic.com, date viewed: 8 May
2017.
[3] Michelangelo, [Online]. Available, www.ottobockus.com, date viewed: 8
May 2017.
[4] T. Wright, A.D. Hagen, and M. B. Wood, Prosthetic usage in major
upper extremity amputations, Journal of Hand Surgery, Vol. 20, No. 4,
pp. 619-622, 2008.
[5] K. stlie, I. Lesj, I. Marie, R. J. Franklin, B. Garfelt, O. H. Skjeldal, and
P. Magnus, Prosthesis rejection in acquired major upper-limb amputees:
a population-based survey, Disability and Rehabilitation: Assistive
Technology, Vol. 7, No. 4, pp. 294-303, 2012.
[6] J. Davidson, A survey of the satisfaction of upper limb amputees with
their prostheses, their lifestyles, and their abilities, Journal of Hand
Therapy, Vol. 15, No. 1, pp. 62-70.2002.
[7] Y. Zhang, L. Chu, Wendi Zhuo and H. Deng, "Grasping force control
preventing excessive deformation for underactuated prosthetic hands,"
2016 IEEE Advanced Information Management, Communicates,
Electronic and Automation Control Conference (IMCEC), Xi'an, 2016,
pp. 1747-1751.
[8] H. Luo, X. Duan and H. Deng, "Sliding mode impedance control of a
underactuated prosthetic hand," 2014 IEEE International Conference on
Information and Automation (ICIA), Hailar, 2014, pp. 726-729.
[9] M. Hioki et al., "Design and control of electromyogram prosthetic hand
with high grasping force," 2011 IEEE International Conference on
Robotics and Biomimetics, Karon Beach, Phuket, 2011, pp. 1128-1133.
[10] D. Johansen, C. Cipriani, D. B. Popovi and L. N. S. A. Struijk, "Control
of a Robotic Hand Using a Tongue Control SystemA Prosthesis
Application," in IEEE Transactions on Biomedical Engineering, vol. 63,
no. 7, pp. 1368-1376, July 2016.
[11] M. Atzori and H. Mller, "The Ninapro database: A resource for sEMG
naturally controlled robotic hand prosthetics," 2015 37th Annual
International Conference of the IEEE Engineering in Medicine and
Biology Society (EMBC), Milan, 2015, pp. 7151-7154.
[12] S. N. Sidek and A. J. Haja Mohideen, "Mapping of EMG signal to hand
grip force at varying wrist angles," 2012 IEEE-EMBS Conference on
Biomedical Engineering and Sciences, Langkawi, 2012, pp. 648-653.
[13] B. Atoufi, E. N. Kamavuako, B. Hudgins and K. Englehart,
"Classification of hand and wrist tasks of unknown force levels using
muscle synergies," 2015 37th Annual International Conference of the
IEEE Engineering in Medicine and Biology Society (EMBC), Milan,
2015, pp. 1663-1666.
[14] P. Cerveri; M. Quinzi; D. Bovio; C. Frigo, "A novel wearable apparatus
to measure fingertip forces in manipulation tasks based on MEMS
barometric sensors," in IEEE Transactions on Haptics , vol.PP, no.99,
pp.1-1.
[15] Y. Wang, G. Liang, D. Mei, L. Zhu and Z. Chen, "A flexible capacitive
tactile sensor array with high scanning speed for distributed contact force
measurements," 2016 IEEE 29th International Conference on Micro
Electro Mechanical Systems (MEMS), Shanghai, 2016, pp. 854-857.
[16] G. Liang, Y. Wang, D. Mei, K. Xi and Z. Chen, "Flexible Capacitive
Tactile Sensor Array With Truncated Pyramids as Dielectric Layer for
Three-Axis Force Measurement," in Journal of Microelectromechanical
Systems, vol. 24, no. 5, pp. 1510-1519, Oct. 2015.
[17] G. Bscher, R. Kiva, C. Schrmann, R. Haschke and H. J. Ritter, "Tactile
dataglove with fabric-based sensors," 2012 12th IEEE-RAS International
Conference on Humanoid Robots (Humanoids 2012), Osaka, 2012, pp.
204-209.
[18] C. Castellini and R. Kiva, "Using surface electromyography to predict
single finger forces," 2012 4th IEEE RAS & EMBS International
Conference on Biomedical Robotics and Biomechatronics (BioRob),
Rome, 2012, pp. 1266-1272.
[19] C. Castellini and V. Ravindra, "A wearable low-cost device based upon
Force-Sensing Resistors to detect single-finger forces," 5th IEEE
RAS/EMBS International Conference on Biomedical Robotics and
Biomechatronics, Sao Paulo, 2014, pp. 199-203.