Contact Force and Scanning Velocity during Active Roughness Perception

Tanaka, Yoshihiro; Tiest, Wouter M. Bergmann; Kappers, Astrid M. L.; Sano, Akihito

doi:10.1371/journal.pone.0093363

Cited by 72 publications

(46 citation statements)

References 25 publications

(39 reference statements)

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“…The finger slid in the medial radial direction, from right to left and left to right (figure 4), and one test consisted of four cycles of 40 mm. Owing to the linear motor operating limits, the finger scanning speed was lower than the more spontaneous velocities encountered during natural active tactile exploration which are close to 40 mm s 21 [46].…”

mentioning

confidence: 87%

Influence of physico-chemical, mechanical and morphological fingerpad properties on the frictional distinction of sticky/slippery surfaces

Cornuault

Carpentier

Bueno

et al. 2015

J. R. Soc. Interface.

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This study investigates how the fingerpad hydrolipid film, shape, roughness and rigidity influence the friction when it rubs surfaces situated in the slippery psychophysical dimension. The studied counterparts comprised two 'real' ( physical) surfaces and two 'virtual' surfaces. The latter were simulated with a tactile stimulator named STIMTAC. Thirteen women and 13 men rubbed their right forefingers against the different surfaces as their arms were displaced by a DC motor providing constant velocity and sliding distance. Tangential and normal forces were measured with a specific tribometer. The fingerpad hydrolipid film was characterized by Fourier transform infrared spectroscopy. The shape and roughness of fingers were extrapolated from replicas. Indentation measurements were carried out to determine fingerpad effective elastic modulus. A clear difference was observed between women and men in terms of friction behaviour. The concept of tactile frictional contrast (TFC) which was introduced quantifies an individual's propensity to distinguish two surfaces frictionally. The lipids/ water ratio and water amount on the finger skin significantly influenced the TFC. A correlation was observed between the TFC and fingerpad roughness, i.e. the height of the fingerpad ridges. This is essentially owing to gender differences. A significant difference between men's and women's finger topography was also noted, because our results suggested that men have rougher fingers than women. The friction measurements did not correlate with the fingerpad curvature nor with the epidermal ridges' spatial period.

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confidence: 87%

Influence of physico-chemical, mechanical and morphological fingerpad properties on the frictional distinction of sticky/slippery surfaces

Cornuault

Carpentier

Bueno

et al. 2015

J. R. Soc. Interface.

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“…Tanaka et al (2014) demonstrated that humans use a greater variation in contact force for the smooth stimuli than for the rough stimuli. Introducing the adequate exploratory movement into the sensor on the basis of findings on human haptic bidirectionality and fingertip characteristic might enhance the evaluation capability of the sensor.…”

Section: Discussionmentioning

confidence: 99%

“…Regarding normal force, it might be difficult to maintain a large constant normal force, especially for an uneven surface. Here, Tanaka et al (2014) conducted roughness perceptual task using similar samples and normal force and scanning velocity exerted in the spontaneous exploratory movement can be observed to be around 0.5 N and around 100 mm/s. Similar values can be also observed in other related psychophysical experiments .…”

Section: Intensity Of Sensor Outputmentioning

confidence: 99%

“…We can optimize or change the exploratory movements according to the perception and the task objective, consciously or unconsciously. Several psychophysical researches investigated the relationship between perception and movements for perceptual tasks in the type of motion (Lederman and Klatzky, 1998), contact force (Smith and Scott, 1996;, scanning velocity (Gamzu and Ahissar, 2001;Tanaka, et al, 2014), and number of the stroke (Drewing, et al, 2011). In addition to psychophysical findings, let us consider tactile displays (e.g.…”

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Roughness evaluation by wearable tactile sensor utilizing human active sensing

Tanaka

Ueda

Sano

2016

Mechanical Engineering Journal

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IntroductionRoughness evaluation has been an important inspection for the quality of product surface or precision manufacturing in the industrial field. Conventional measurement devices are probe-type sensors with a stylus, but they are hard to be applied to curved surface or small product's surface. Human fingers are still necessary for such object surface evaluation in the industrial field since human fingers are flexible and applicable to narrow space and complex shape. However, the rating by human is subjective and is difficult to record and convey. Hence, this study is aimed to develop a tactile sensor capable of evaluating roughness on curved surface and small product surface as well as flat surface to replace the inspection by humans.Various tactile sensors and image processing technologies have been proposed for roughness or micro surface profile measurement. Image processing technologies have an advantage in wide area measurement, whereas they are not suitable for curved surface due to the limitation of height range (Li, et al., 2010). Many of tactile sensors for roughness or texture evaluation are active sensors, which include actuators for moving sensors and/or objects. For example, Sinapov et al. (2011) developed a tactile sensing system utilizing a robot arm with a three-axis accelerometer and showed that by applying several different exploratory behaviors on a test surface, the robot could recognize surfaces with different texture. In such tactile sensing system, robot arms/fingers with tactile sensors were controlled to Roughness evaluation by wearable tactile sensor utilizing human active sensing Abstract Humans can evaluate roughness on various shaped surfaces. Conventional roughness measurement sensors are difficult to apply to curved surface or small product's surface. In this paper, a simple tactile sensor utilizing human ability based on haptic bidirectionality is developed for the roughness evaluation. Humans can move their fingers while perceiving tactile sensations and change exploratory movements like contact force, scanning velocity, direction, etc. according to haptic perception and task objective. Our developed sensor is composed of two microphones and is mounted on a human fingertip. It allows users to touch the object without haptic obstruction. Users can apply the sensor while retaining their normal haptic perception and simultaneously obtaining vibrations and sound based on the mechanical interaction between the finger and the object. First, influence of contact force and scanning velocity on the sensor output is investigated. The experimental results show that the sensor output increases with a rise in the contact force but the influence of the scanning velocity varies between individuals. Then, on the basis of the results, experiment of roughness evaluation is conducted for flat surface and curved surface. A constant normal force and scanning velocity are exerted and the collected sensor output is calibrated by using the sensor output for the middle-roughness sample. The results...

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“…Many researchers measured the interaction force between the fingertip and material surfaces as reliable information related to the finger pad's deformation because the forces cause the skin to deform [13][14][15][16][17][18][19]. For example, Wiertlewski et al [13] precisely measured the interaction forces when a material slid beneath a fingertip.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2017

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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 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.

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Contact Force and Scanning Velocity during Active Roughness Perception

Cited by 72 publications

References 25 publications

Influence of physico-chemical, mechanical and morphological fingerpad properties on the frictional distinction of sticky/slippery surfaces

Influence of physico-chemical, mechanical and morphological fingerpad properties on the frictional distinction of sticky/slippery surfaces

Roughness evaluation by wearable tactile sensor utilizing human active sensing

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

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