Development of a Novel Tactile Sensing Utilizing Self-Reference and Bidirectionality

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A finger-mounted sensor for measurement of the skin vibration generated by the mechanical interaction between the finger and the object was developed. The sensor employs a user' s finger as a sensing element. Users can apply the sensor while retaining their normal haptic perception (bidirectionality) and simultaneously obtaining the skin vibration from which perception is derived (self-reference). Human haptic perception was investigated through the fundamental experiments on the skin-transmitted vibration characteristic and relation between the perception and the exploratory movement. The experimental results on roughness evaluations with the developed sensor showed a potential and availability of the proposed sensing for the inspection in the manufacturing and other applications.