{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T19:16:44Z","timestamp":1771960604513,"version":"3.50.1"},"reference-count":34,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2017,12,8]],"date-time":"2017-12-08T00:00:00Z","timestamp":1512691200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100007707","name":"Istituto Nazionale per l'Assicurazione Contro Gli Infortuni sul Lavoro","doi-asserted-by":"publisher","award":["E58C13000990001"],"award-info":[{"award-number":["E58C13000990001"]}],"id":[{"id":"10.13039\/501100007707","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100007707","name":"Istituto Nazionale per l'Assicurazione Contro Gli Infortuni sul Lavoro","doi-asserted-by":"publisher","award":["E57B16000160005"],"award-info":[{"award-number":["E57B16000160005"]}],"id":[{"id":"10.13039\/501100007707","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100007707","name":"Istituto Nazionale per l'Assicurazione Contro Gli Infortuni sul Lavoro","doi-asserted-by":"publisher","award":["C82F17000040001"],"award-info":[{"award-number":["C82F17000040001"]}],"id":[{"id":"10.13039\/501100007707","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100010661","name":"Horizon 2020 Framework Programme","doi-asserted-by":"publisher","award":["J42I15000030006"],"award-info":[{"award-number":["J42I15000030006"]}],"id":[{"id":"10.13039\/100010661","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The analysis of the human grasping and manipulation capabilities is paramount for investigating human sensory-motor control and developing prosthetic and robotic hands resembling the human ones. A viable solution to perform this analysis is to develop instrumented objects measuring the interaction forces with the hand. In this context, the performance of the sensors embedded in the objects is crucial. This paper focuses on the experimental characterization of a class of capacitive pressure sensors suitable for biomechanical analysis. The analysis was performed in three loading conditions (Distributed load, 9 Tips load, and Wave-shaped load, thanks to three different inter-elements) via a traction\/compression testing machine. Sensor assessment was also carried out under human- like grasping condition by placing a silicon material with the same properties of prosthetic cosmetic gloves in between the sensor and the inter-element in order to simulate the human skin. Data show that the input\u2013output relationship of the analyzed, sensor is strongly influenced by both the loading condition (i.e., type of inter-element) and the grasping condition (with or without the silicon material). This needs to be taken into account to avoid significant measurement error. To go over this hurdle, the sensors have to be calibrated under each specific condition in order to apply suitable corrections to the sensor output and significantly improve the measurement accuracy.<\/jats:p>","DOI":"10.3390\/s17122846","type":"journal-article","created":{"date-parts":[[2017,12,8]],"date-time":"2017-12-08T11:37:40Z","timestamp":1512733060000},"page":"2846","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Evaluation of Pressure Capacitive Sensors for Application in Grasping and Manipulation Analysis"],"prefix":"10.3390","volume":"17","author":[{"given":"Paola","family":"Pessia","sequence":"first","affiliation":[{"name":"Unit of Biomedical Robotics and Biomicrosystems, University Campus Bio-Medico of Rome, via Alvaro del Portillo 21, 00128 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francesca","family":"Cordella","sequence":"additional","affiliation":[{"name":"Unit of Biomedical Robotics and Biomicrosystems, University Campus Bio-Medico of Rome, via Alvaro del Portillo 21, 00128 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9696-1265","authenticated-orcid":false,"given":"Emiliano","family":"Schena","sequence":"additional","affiliation":[{"name":"Unit of Measurements and Biomedical Instrumentation, University Campus Bio-Medico of Rome, via Alvaro del Portillo 21, 00128 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Angelo","family":"Davalli","sequence":"additional","affiliation":[{"name":"Centro Protesi INAIL, Via Rabuina 14, 40054 Budrio (BO), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rinaldo","family":"Sacchetti","sequence":"additional","affiliation":[{"name":"Centro Protesi INAIL, Via Rabuina 14, 40054 Budrio (BO), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Loredana","family":"Zollo","sequence":"additional","affiliation":[{"name":"Unit of Biomedical Robotics and Biomicrosystems, University Campus Bio-Medico of Rome, via Alvaro del Portillo 21, 00128 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,12,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"37","DOI":"10.5772\/57554","article-title":"Human hand motion analysis and synthesis of optimal power grasps for a robotic hand","volume":"11","author":"Cordella","year":"2014","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Roa, M.A., Koiva, R., and Castellini, C. (2012, January 24\u201327). Experimental evaluation of human grasps using a sensorized object. Proceedings of the 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy.","DOI":"10.1109\/BioRob.2012.6290670"},{"key":"ref_3","unstructured":"Formica, D., Zollo, L., and Guglielmelli, E. (July, January 28). Torque-dependent compliance control in the joint space of an operational robotic machine for motor therapy. Proceedings of the IEEE International Conference on Rehabilitation Robotics, Chicago, IL, USA."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Hendrich, N., Klimentjew, D., and Zhang, J. (2010, January 5\u20137). Multi-sensor based segmentation of human manipulation tasks. Proceedings of the IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems, Salt Lake City, UT, USA.","DOI":"10.1109\/MFI.2010.5604451"},{"key":"ref_5","unstructured":"Matsuo, K., Murakami, K., Hasegawa, T., and Kurazume, R. (2008, January 26\u201329). A decision method for the placement of mechanical tactile elements for grasp type recognition. Proceedings of the IEEE Sensors, Lecce, Italy."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"705","DOI":"10.1080\/09638280410001704278","article-title":"A comparison of the grip force distribution in natural hands and in prosthetic hands","volume":"26","author":"Kargov","year":"2004","journal-title":"Disabil. Rehabil."},{"key":"ref_7","first-page":"82","article-title":"Instrumented objects for quantitative evaluation of hand grasp","volume":"34","author":"Memberg","year":"1997","journal-title":"J. Rehabil. Res. Dev."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Cordella, F., Gentile, C., Zollo, L., Barone, R., Sacchetti, R., Davalli, A., Siciliano, B., and Guglielmelli, E. (2016, January 16\u201321). A force-and-slippage control strategy for a poliarticulated prosthetic hand. Proceedings of the IEEE International Conference on Robotics and Automation, Stockholm, Sweden.","DOI":"10.1109\/ICRA.2016.7487533"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"817","DOI":"10.1109\/TBME.2007.912675","article-title":"Improved grasp force sensitivity for prosthetic hands through force-derivative feedback","volume":"55","author":"Engeberg","year":"2008","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Romeo, R.A., Oddo, C.M., Carrozza, M.C., Guglielmelli, E., and Zollo, L. (2017). Slippage detection with piezoresistive tactile sensors. Sensors, 17.","DOI":"10.3390\/s17081844"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Barone, R., Ciancio, A.L., Romeo, R.A., Davalli, A., Sacchetti, R., Guglielmelli, E., and Zollo, L. (2016). Multilevel control of an anthropomorphic prosthetic hand for grasp and slip prevention. Adv. Mech. Eng., 8.","DOI":"10.1177\/1687814016665082"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1007\/s10514-014-9402-3","article-title":"Grasp quality measures: Review and performance","volume":"38","author":"Roa","year":"2015","journal-title":"Auton. Robot."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Romeo, R.A., Cordella, F., Zollo, L., Formica, D., Saccomandi, P., Schena, E., Carpino, G., Davalli, A., Sacchetti, R., and Guglielmelli, E. (2015, January 25\u201329). Development and preliminary testing of an instrumented object for force analysis during grasping. Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Milan, Italy.","DOI":"10.1109\/EMBC.2015.7319935"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Cordella, F., Taffoni, F., Raiano, L., Carpino, G., Pantoni, M., Zollo, L., Schena, E., Guglielmelli, E., and Formica, D. (2016, January 16\u201320). Design and development of a sensorized cylindrical object for grasping assessment. Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, FL, USA.","DOI":"10.1109\/EMBC.2016.7591449"},{"key":"ref_15","unstructured":"Schurmann, C., K\u00f5iva, R., Haschke, R., and Ritter, H. (December, January 29). Analysis of human grasping under task anticipation using a tactile book. Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Serio, A., Riccomini, E., Tartaglia, V., Sarakoglou, I., Gabiccini, M., Tsagarakis, N., and Bicchi, A. (2014, January 14\u201318). The Patched Intrinsic Tactile Object: A Tool to Investigate Human Grasps. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA.","DOI":"10.1109\/IROS.2014.6942719"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"2025","DOI":"10.1152\/jn.00546.2016","article-title":"Multidigit force control during unconstrained grasping in response to object perturbations","volume":"117","author":"Naceri","year":"2017","journal-title":"J. Neurophysiol."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Ji, Z., Zhu, H., Liu, H., Liu, N., Chen, T., Yang, Z., and Sun, L. (2016). The design and characterization of a flexible tactile sensing array for robot skin. Sensors.","DOI":"10.3390\/s16122001"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Mitrakos, V., Macintyre, L., Denison, F.C., Hands, P.J.W., and Desmulliez, M.P.Y. (2016). Design, manufacture and testing of capacitive pressure sensors for low-pressure measurement ranges. Micromachines, 8.","DOI":"10.3390\/mi8020041"},{"key":"ref_20","unstructured":"(2017, October 11). Available online: http:\/\/novel.de\/novelcontent\/."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"376","DOI":"10.1177\/0309364612453252","article-title":"Research and development at novel GmbH, Germany for prosthetics and paraplegics","volume":"36","author":"Curran","year":"2012","journal-title":"Prosthet. Orthot. Int."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1016\/S0268-0033(96)00050-2","article-title":"Dynamic plantar pressure distribution measurements in hemiparetic patients","volume":"12","author":"Meyring","year":"1997","journal-title":"Clin. Biomech."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"266","DOI":"10.1016\/j.tvjl.2008.03.002","article-title":"Usability of normal force distribution measurements to evaluate asymmetrical loading of the back of the horse and different rider positions on a standing horse","volume":"181","author":"Clayton","year":"2009","journal-title":"Vet. J."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"1514","DOI":"10.1038\/sj.ijo.0802729","article-title":"What are the effects of obesity in children on plantar pressure distributions?","volume":"28","author":"Dowling","year":"2004","journal-title":"Int. J. Obes."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"2","DOI":"10.1186\/s13047-015-0119-0","article-title":"Total contact cast wall load in patients with a plantar forefoot ulcer and diabetes","volume":"9","author":"Begg","year":"2016","journal-title":"J. Foot Ankle Res."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1016\/S0268-0033(01)00026-2","article-title":"A comparison of vertical force and temporal parameters produced by an in-shoe pressure measuring system and a force platform","volume":"16","author":"Barnett","year":"2001","journal-title":"Clin. Biomech."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1177\/107110070502600210","article-title":"Efficacy of plantar loading parameters during gait in terms of reliability, variability, effect of gender and relationship between contact area and plantar pressure","volume":"26","author":"Murphy","year":"2005","journal-title":"Foot Ankle Int."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"704","DOI":"10.1016\/j.jsv.2006.06.021","article-title":"Apparent mass of seated man\u2014First determination with a soft seat and dynamic seat pressure distributions","volume":"298","author":"Hinz","year":"2006","journal-title":"J. Sound Vib."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Parmar, S., Khodasevych, I., and Troynikov, O. (2017). Evaluation of flexible force sensors for pressure monitoring in treatment of chronic venous disorders. Sensors, 17.","DOI":"10.3390\/s17081923"},{"key":"ref_30","unstructured":"Crowder, R.M. (2017, June 22). Automation and Robotics. Available online: http:\/\/www.soton.ac.uk\/~rmc1\/robotics\/artactile.htm."},{"key":"ref_31","unstructured":"JCGM (2008). Evaluation of Measurement Data\u2014Guide to the Expression of Uncertainty in Measurement, BIPM."},{"key":"ref_32","unstructured":"(2017, October 11). Available online: http:\/\/rslsteeper.com\/."},{"key":"ref_33","unstructured":"JCGM (2012). International Vocabulary of Metrology\u2014Basic and General Concepts and Associated Terms, BIPM. [3rd ed.]."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1016\/S0140-6736(86)90837-8","article-title":"Statistical methods for assessing agreement between two methods of clinical measurement","volume":"327","author":"Bland","year":"1986","journal-title":"Lancet"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/12\/2846\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:53:08Z","timestamp":1760208788000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/12\/2846"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,12,8]]},"references-count":34,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2017,12]]}},"alternative-id":["s17122846"],"URL":"https:\/\/doi.org\/10.3390\/s17122846","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,12,8]]}}}