How to measure fingertip forces?
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I think Brad's approach will provide the most accurate which I think is what you are aiming for, but also consider what is being used in the sports world, particularly for golf and also in the medical world for health. Do an image search
https://duckduckgo.com/?q=measuring+grip+pressure&atb=v102-1&iar=images&iax=images&ia=images to see some of the possibilities.
I'd look in to sensors like TE Connectivity FX1901-0001-0100-L (RS part stock #893-7398) or FX29K0-040B-0010-L. They are compact, lightweight, and the right maximum force range.
The FX19 model has low-level (~mV / V) analog output from a bridge across a user-supplied excitation voltage, and would need amplification and signal conditioning circuitry for use.
The FX29 sensor is available in several different output types, identified by the two characters following FX29 in the model number. K0 indicates digital output using I2C protocol, easily interfaced to microprocessors. That's the approach I'd go with.
You could use it with small processor boards with wireless built in, like offerings from Adafruit and Nordic, and keep the combined package quite small. The spec sheet for the FX29K0 lists a response time of 3ms if not in sleep mode.
That sounds great, thank you for the recommendation. I was aiming to measure both the compression and the vertical shear force with one sensor - is there one in the TE Connectivity range that could do that?