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JRM Vol.24 No.3 pp. 430-440
doi: 10.20965/jrm.2012.p0430
(2012)

Paper:

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Finger-Mounted Tactile Sensor for Evaluating Surfaces

Ryo Kikuuwe, Kenta Nakamura, and Motoji Yamamoto

Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan

Received:
November 24, 2011
Accepted:
December 2, 2011
Published:
June 20, 2012
Creative Commons License
Keywords:
tactile sensor, PVDF film sensor, fabric, principal component analysis, surface texture
Abstract
This paper presents a finger-mounted tactile sensor for extracting information on fine surface properties of objects such as textile fabrics. The prototype sensor has a thin structure composed of a sheet of PVDF (polyvinylidene fluoride) film sensor and some metal parts for converting compressive forces into area expansion of the PVDF film. By using a signal processing program based on the FFT (fast Fourier transform), voltage signal sequences from nine different fabrics were distinguished, even in the presence of variations in the pressing force and the speed of rubbing motion induced by the fluctuations in the user’s hand motion. In addition, the signal sequences from abraded fabrics were sorted by their levels of abrasion by extracting a signal component correlated with the abrasion level.1
1. This paper is the full translation from the transactions of JSME, Series C, Vol.77, No.784, 2011.
Cite this article as:
R. Kikuuwe, K. Nakamura, and M. Yamamoto, “Finger-Mounted Tactile Sensor for Evaluating Surfaces,” J. Robot. Mechatron., Vol.24 No.3, pp. 430-440, 2012.
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