Haptics model for human fingertips based on gaussian distribution

Abstract

Functionality and cosmetics are two concerns for future hand prosthesis development and they both can be improved by a combination with artificial soft materials which can mimic human skin. To bridge the gap between the human and artificial side, it is essential to have a comprehensive understanding of the human skin's biomechanics, especially the fingertip's hapticsrelated mechanism. Available studies characterise the mechanical behaviour of human fingertip only by deterministic models based on either statistical data analysis or fingertip structure/viscoelasticity analysis. To take the force uncertainty into consideration, this paper proposes a novel probability-based haptics model, which includes two parts: a force prediction model to obtain the most possible contact force according to the indentation depth, and a probabilistic model based on Gaussian distribution to describe the force uncertainty. Experiments were conducted by pressing subjects' index fingertips against a cone-shape probe with the measurement of the contact force and the indentation depth under a wide range of 0~5 mm. Four types of non-linear regression models and the Gaussian distribution model are applied for model training and validation. Experiment results reveal that the contact force varying with the indentation depth presents the characteristics of non-linearity, dispersion, and individual difference. Model testing results confirm the effectiveness of the haptics model on force prediction and force uncertainty description. An example of its application on a virtual hand of a rehabilitation system is demonstrated.

Electrotactile Feedback in a Virtual Hand Rehabilitation Platform: Evaluation and Implementation

“…The model was tuned by the locally captured data of ten subjects. The deformation model of the virtual fingertip is designed according to the human fingertip's biomechanics investigated in our previous work, which proposed an in vivo dataset of the human fingertip and a haptics model to predict the contacting force according to the fingertip deformation depth [36]. The parameters of the haptics model needed to be customised individually.…”

Organic Haptics: Intersection of Materials Chemistry and Tactile Perception

“…[71] Another active area of research central to haptics is the mechanics of complex interfaces. In particular, the dynamic forces present at the skin-surface interface during any engagement with an object have been the topic of many studies, [72][73][74][75] many of which provided inspiration for the work described here.…”

Intelligent, smart and scalable cyber-physical systems

“…After a stringent peer-review process, this special issue features fifty selected papers with high quality. In [1], the authors proposed a novel probability-based haptics model, which includes two parts: a force prediction model to obtain the most possible contact force according to the indentation depth, and a probabilistic model based on Gaussian distribution to describe the force uncertainty. Experiment results reveal that the contact force varying with the indentation depth presents the characteristics of non-linearity, dispersion, and individual difference.…”