Phase Difference Between Normal and Shear Forces During Tactile Exploration Represents Textural Features
Phase Difference Between Normal and Shear Forces During Tactile Exploration Represents Textural Features
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DOI：
10.1109/toh.2019.2960021
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发表时间：
2019-12
影响因子：
2.9
通讯作者：
Hikaru Hasegawa;S. Okamoto;Yoji Yamada
中科院分区：
文献类型：
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作者：
Hikaru Hasegawa;S. Okamoto;Yoji Yamada
为了了解手指与材料的相互作用，在频域中研究了触觉探测过程中产生的接触力和皮肤变形。它们的功率谱是与材料表面性质相关的代表性特征量之一。然而，到目前为止，这些量的相位信息还没有被研究过。此外，以前的大多数研究都集中在一维信号上，如法向或切向上的力。我们研究了在触觉探测过程中产生的法向力和剪切力之间的相位差异。结果表明，这两种轴向力的相位差因材料不同而不同，表现出不同于功率谱的特征。这些结果表明，在触觉探测过程中，应该考虑两个轴向力之间的相位差来理解手指与材料的相互作用。
Contact forces and skin deformation induced during tactile exploration have been investigated in the frequency domain to understand finger–material interaction. Their power spectra are one of the representative feature quantities that have been associated with the surface properties of materials. However, thus far, the phase information of these quantities has not been studied. Furthermore, most previous studies focused on uni-dimensional signals such as forces in either the normal or tangential directions. We investigated the phase differences between normal and shear forces induced during tactile exploration. The results showed that the phase differences between these two axial forces differ among materials and that they exhibit features different from their power spectra. These results indicate that the phase difference between two axial forces should be taken into account to understand the finger–material interactions during tactile exploration.