Next Article in Journal
Multiple Instances QoS Routing in RPL: Application to Smart Grids
Next Article in Special Issue
An Associative Memory Approach to Healthcare Monitoring and Decision Making
Previous Article in Journal
Wireless Positioning in IoT: A Look at Current and Future Trends
Previous Article in Special Issue
LifeChair: A Conductive Fabric Sensor-Based Smart Cushion for Actively Shaping Sitting Posture
Article Menu
Issue 8 (August) cover image

Export Article

Open AccessArticle
Sensors 2018, 18(8), 2471;

Assistive Handlebar Based on Tactile Sensors: Control Inputs and Human Factors

Department of Electronics, Institute of Biomedical Research of Málaga (IBIMA), University of Málaga, 29071 Málaga, Spain
Sorbonne Université, Institut des Systèmes Intelligents et de Robotique UMR 7222 CNRS, ERL INSERM U1150 Agathe, 75005 Paris, France
Author to whom correspondence should be addressed.
Received: 9 June 2018 / Revised: 17 July 2018 / Accepted: 26 July 2018 / Published: 30 July 2018
(This article belongs to the Special Issue Sensor Applications in Medical Monitoring and Assistive Devices)
Full-Text   |   PDF [16093 KB, uploaded 31 July 2018]   |  


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. View Full-Text
Keywords: tactile sensors; assistive technology; user interface; wheelchairs; attendant; human factors tactile sensors; assistive technology; user interface; wheelchairs; attendant; human factors

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Supplementary material

  • Externally hosted supplementary file 1
    Doi: 10.1109/TNSRE.2018.2838326

Share & Cite This Article

MDPI and ACS Style

Trujillo-León, A.; Bachta, W.; Castellanos-Ramos, J.; Vidal-Verdú, F. Assistive Handlebar Based on Tactile Sensors: Control Inputs and Human Factors. Sensors 2018, 18, 2471.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top