A real-time tactile image processing algorithm for edge contact is presented in this paper. Based on basic elasticity results, closed-form solutions for calculating contact force and local contact geometries (i.e., location and orientation of the line of contact) from the rst three moments of a tactile image are derived. Computational complexity of the proposed algorithm and those of the previo...

The body uses proprioceptive and tactile information when it interacts with its surrounds. This position paper explores three classes of proprioceptive/tactile interactions that might be integrated into the design of interactive technologies. These classes are direct contact force-feedback, a force-feedback/near-field non-contact gesture interaction hybrid and open-field non-contact gesture int...

This paper presents a haptic stylus interface with a built-in compact tactile display module and an impact module as well as empirical studies on Braille, button, and texture display. We describe preliminary evaluations verifying the tactile display's performance indicating that it can satisfactorily represent Braille numbers for both the normal and the blind. In order to prove haptic feedback ...

We developed a new tactile display using acoustic radiation pressure. The display can produce a 1 mm diameter focal point and 2 gf total force. By steering the focal point using a linear phased array, the display creates various spatiotemporal patterns of pressure distribution on the skin precisely. We carried out experiments on “tactile apparent movement” with the tactile display and found tha...

Virtual surface characteristics of tactile displays are investigated to characterize the feeling of human touch for a haptic interface application. In order to represent the tactile feeling, a prototype tactile display incorporating Magneto-Rheological (MR) fluid has been developed. Tactile display devices simulate the finger's skin to feel the sensations of contact such as compliance, friction...

Force and tactile sensing has experienced a surge of interest over recent decades. It conveys range information through physical interaction, including force, pressure, texture vibration. Even so, existing sensors have difficulty in precisely acquiring force signals to capture magnitude direction. This is because vision-based sensors, such as the popular GelSight sensor, estimate torque from di...

We consider the target{reaching problem in plane scenes for a point robot which has a tactile sensor and can locate the target ray. It might have a compass, too, but it is not able to perceive the coordinates of its position nor to measure distances. The complexity of an algorithm is measured by the number of straight moves until reaching the target, as a function of the number of vertices of t...

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It is well known that haptic feedback can facilitate the tele-operation of a remotely controlled robot by providing the user with intuitive tactile and/or force sensations from the robot's interactions with the environment. However, such mechanical haptic feedback systems can be complex, cumbersome, costly and application specific. This paper presents a novel tele-operation haptic feedback syst...

This chapter provides an overview of force and tac-tile sensing, with the primary emphasis placed on tactile sensing. We begin by presenting some basic considerations in choosing a tactile sensor and then review of a wide variety of sensor types, including proximity, kine-matic, force, dynamic, contact, skin deflection, thermal and pressure sensors. We also review various transduc-tion methods,...