Real-time estimation of touch feeling factors using human finger mimetic tactile sensors

Shogo Okamoto, Masashi Konyo, Yuka Mukaibo, Takashi Maeno, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

To realize a telepresence system with tactile feed-back and force feedback, real-time estimation of various tactile sensation must be conducted. Because several types of tactile sensation consist in touch and human tactile feeling has high time resolution. A man feels active touch extraordinary with time delayed transmission of tactile information. Our proposing human finger mimetic sensor covers three tactile factors, which are roughness, softness and friction of objects to touch. Current tactile telepresence systems represent just one tactile sensation in addition to kinesthetic information. For augmented reality, wider tactile factors must be sensed at a tactile sensor system and transferred to a tactile display system with small time delay. We realized quick estimation of vibrational frequencies of the sensor and softness of objects to regenerate touch feelings to human skin by tactile displays, which usually need time-consuming samples and make it hard to address tactile telepresence system. Quick estimation of vibrational frequency was conducted by emulating impulse emission of Meissner's corpuscles. Quick estimation of Young's modulus of objects was solved by computing strain distribution in a sensor.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages3581-3586
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Okamoto, S., Konyo, M., Mukaibo, Y., Maeno, T., & Tadokoro, S. (2006). Real-time estimation of touch feeling factors using human finger mimetic tactile sensors. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 3581-3586). [4058959] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281648