Capacitive tactile sensors are constructed and installed to the ngers of the HKUST hands for measurement of position, force and direction of principle curvature of contact point. The hardware and software for signal processing are designed such that the contact information is sent to the motion control computer in real time. Experiments in rolling and sliding contact motions are then performed ...

Abstract In this paper, we will propose a simple contact model of a soft fingertip based on geometrical analysis and statics of the fingertip. First, we introduce a virtual spring system to the soft fingertip corresponding to one and twodimensional contact between a planar object and a soft fingertip. Second, we describe pressure distribution, and estimate that equation by simulating and measur...

A prototype of a joystick where the kinesthetic feedback is substituted by tactile feedback is proposed. Tactile feedback is provided by a wearable device able to apply vertical stress to the fingertip in contact with the joystick. To test the device, rigid wall rendering is considered. Preliminary experiments show that the sensation of touching a virtual wall using the force feedback provided ...

Telexistence (or telepresence) enable us to interact with another human or object in a remote or a virtual place through a robotic system (Tachi & Yasuda, 1994). This technology spreads across the world because of a desire to extend a person’s sensing and interacting capability to remote places. In telexistence technologies, a robotic system called haptic display that provides haptic feedback t...

The force vector information is essential while collision avoidance planning through tactile feedback in autonomous or teleoperation mode. In this paper, we concentrate on the approach to calculation of the applied force vector at any point of the robot arm and its technical realization. Based on the presented force vector calculation flow, we obtained the experimental results validating the ab...

Understanding the human tactile system is the motivation for this research. The linear viscoelastic mechanical properties of the human fingerpad describe the stress-strain relationship within the fingerpad for any stimulus geometry and any time history of applied forces or displacements. The stress-strain relationships within the fingerpad tissue govern the stimuli to the mechanoreceptors which...

The design, fabrication and testing of a 5 5 micromachined tactile sensor array for the detection of an extremely small force (micrometer-Newton range) has been discussed. An anisotropic etching of silicon substrate of a MUMPs process chip forms a central contacting pads that are trampoline-shape suspended structures and sensor beams. A piezoresistive layer of polysilicon embedded in sensor bea...

This paper investigates the design optimisation of a magnetic field based soft tactile sensor, comprised of a magnet and Hall effect module separated by an elastomer. The aim was to minimise sensitivity of the output force with respect to the input magnetic field; this was achieved by varying the geometry and material properties. Finite element simulations determined the magnetic field and stru...

A full tactile sensing suite f o r the finger segments and palm of the Utah/MIT Dextrous Hand is presented. The rubber-based sensors employ capacitance sensing and floating electrodes in the top layer, and contain local electronics fo r excitation, filtering, analog-to-dzgital conversion, and serial commzanication. Experimental results on statzc, dynamic, and spatial properties are presented. U...

The human fingertip is exquisitely sensitive to touch. Tactile information sensed by the mechanoreceptors of the fingertip make it possible to deduce information such as the location of contact and the normal forces, shear forces and torques being applied to the skin. Humans use this information to grasp and handle objects with great dexterity. Robotic systems seeking to obtain similar performa...