An Open-Source Robotic Tool for the Simulation of Quasi-Static Finger Pressing on Stationary and Vibrating Surfaces

The Bogus Finger is a remote-controllable tool for simulating vertical pressing forces of various magnitude as exerted by human finger. Its main application the characterization haptic devices under realistic active touch conditions. device released an open-source hardware and software DIY project that can be easily built using off-the-shelf components. We report quasi-static properties device, validate its dynamic response to on vibrating surface comparison with fingers. present prototype configuration accurately reproduces mechanical impedance finger in frequency range 200–400 Hz.