ZhongCheng Wu

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External force at the end-effector is often required for the force control of robotic manipulator. In some cases, the force information measured by wrist force sensor consists of the external force and the undesired inertial force arising from the acceleration of the end-effector. Up to now, it is still difficult to extract the external force exactly for(More)
At present, many kinds of handwriting-based applications have been developed. But up to now, all dynamic information describing writing process including forces, trajectories, velocities, accelerations and slants can't be acquired simultaneously by a single device. This paper introduces a new kind of tablet for on-line handwriting signal capture. With a(More)
In robotic force feedback application, the acceleration and deceleration of end manipulator will add additional inertial forces/torques to six-axis wrist force/torque sensors. It is desirable to measure the interaction force of manipulator to its environment for controlling purpose. A 12 DOF (degree of freedom) force/torque sensor, which integrates a(More)
The mechanism of the sensory-to-motor transformation as well as motor-to-sensory transformation of human beings has attracted much attention in recent years. As no efficient device can record hand intrinsic behavior, it is difficult to get its neuro-physiological models of sensory-motor coordination. In this paper, we offer a system to acquire the(More)
In this study, we investigated children's fine motor development by analyzing drawing trajectories, kinematics and kinetics. Straight lines drawing task and circles drawing task were performed by using a force sensitive tablet. Forty right-handed and Chinese mother-tongue students aged 6-12, attending classes from grade 1 to 5, were engaged in the(More)
The use of pen as an effective communication interface to computer becomes an active research area in recent years. However, the lack of complete solutions for interchange between platforms has hampered its application as no efficient device can record the entire procedure of human handwriting behavior. In this paper, we design a force Tablet (F-Tablet) for(More)