Measurement of fluid forces acting on a hand using pressure sensors for the swimming humanoid robot

Engineering of Sport 15 - Proceedings from the 15th International Conference on the Engineering of Sport (ISEA 2024)

The fluid force acting on a hand is known to be crucial in swimming, especially for the crawl, backstroke and butterfly strokes. In swimming research, pressure sensors attached to swimmers’ hands have often been employed to measure the fluid forces during swimming. On the other hand, the swimming humanoid robot SWUMANOID was developed as an experimental platform for swimming research. Since the robot has the half‐scaled body, the conventional pressure sensors for actual swimmers are too large to attach to the robot. In this present study, a custom hand with embedded pressure sensors was developed. A preliminary experiment was conducted to confirm the feasibility of the developed system