A Tactile Shape Display Using RC Servomotors
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
A Portable Fingertip Tactile Feedback Array " Transmission System Reliability and Modelling
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
ACM SIGGRAPH 2007 emerging technologies
Robotics and Autonomous Systems
TACTIP - tactile fingertip device, texture analysis through optical tracking of skin features
Living Machines'13 Proceedings of the Second international conference on Biomimetic and Biohybrid Systems
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Skin deformation has been previously shown as vital for lump detection during the direct manipulation of an object. A deformation-based tactile feedback system is developed and presented that senses and displays this tactile information for palpation in tele-surgical applications. A biologicallyinspired tactile sensor modelled from the human fingertip is used to obtain the skin deformation during interaction. It does this by measuring the displacement of the sensor's artificial intermediate epidermal ridges using a simple, computationally-efficient algorithm. The design of a previously-published tactile shape display is then recreated and improved for relaying this sensed information on to a human user's fingertip. This tactile display uses remote actuation to reduce the mass of the display, avoiding the issue of adding a large mass to a tele-operation interface. The tactors within the developed display exhibit 2.5 mm displacement, with a 2.5 mm spacing, 12 Hz bandwidth and a stiffness of 5.0 N/mm. A linear relationship is found between sensor deformation and tactor displacement and the spatial performance of the system is proven by successfully detecting lumps within artificial muscle tissue. This new deformation-based tactile system offers an intuitive sense of touch with minimal processing.