Wearable finger pad deformation sensor for tactile textures in frequency domain by using accelerometer on finger side

摘要

In this study, we set out to develop a method for estimating the fine and fast shear deformation of a finger pad, that is, the palm side of a fingertip, as it scans the surface of a material. Using a miniature accelerometer, we measured the acceleration at the radial skin, the deformation of which is accompanied by the shear deformation of the finger pad. Using a transfer function, as specified in a separate experiment, between the pad and side of a finger, we estimated the shear deformation of the finger pad in the frequency domain. A comparison between an estimate based on the accelerometer and another based on a precise force sensor for the tangential component of the interaction force between the fingertip and material surfaces showed that the estimation accuracy was sufficient for frequencies in excess of approximately 20–50 Hz and for skin deformation above $$10^{-6}$$ 10 - 6  m. Our technique merely requires that an accelerometer be attached to the side of the fingertip, which allows active texture exploration. These estimates or measurements of the finger skin deformation caused by touching materials will help us to comprehend the relationships between material surfaces and the resulting texture sensations.