TY - CONF T1 - Characterization of Nonlinear Finger Pad Mechanics for Tactile Rendering T2 - IEEE World Haptics Conference Y1 - 2015 A1 - E. Miguel A1 - M. L. D'Angelo A1 - F. Cannella A1 - M. Bianchi A1 - M Memeo A1 - A. Bicchi A1 - D. G. Caldwell A1 - M. A. Otaduy KW - Haptics KW - Robotics AB -

The computation of skin forces and deformations for tactile rendering requires an accurate model of the extremely nonlinear behavior of the skin. In this work, we investigate the characterization of fingermechanics with the goal of designing accurate nonlinear models for tactile rendering. First, we describe a measurement setup that enables the acquisition of contact force and contact area in the context of controlled finger indentation experiments. Second, we describe an optimization procedure that estimates the parameters of strain-limiting deformation models that match best the acquired data. We show that the acquisition setup allows the measurement of force and area information with high repeatability, and the estimation method reaches nonlinear models that match the measured data with high accuracy.

JF - IEEE World Haptics Conference CY - Chicago, USA, 22-25 June 2015 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7177692 N1 -

softhands, werahap

ER -