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Vision-based sensor for real-time measuring of surface traction fields

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6 Author(s)

The desire to reproduce and expand the human senses drives innovations in sensor technology. Conversely, human-interface research aims to allow people to interact with machines as if they were natural objects in a cybernetic, human-oriented way. We wish to unite the two paradigms with a haptic sensor as versatile as the sense of touch and developed for a dual purpose: to improve the robotic capability to interact with the physical world, and to improve the human capability to interact with the virtual world for emerging applications with a heightened sense of presence. We designed a sensor, dubbed GelForce, that acts as a practical tool in both conventional and novel desktop applications using common consumer hardware. By measuring a surface traction field, the GelForce tactile sensor can represent the magnitude and direction of force applied to the skin's surface using computer vision. This article is available with a short video documentary on CD-ROM.

Published in:

Computer Graphics and Applications, IEEE  (Volume:25 ,  Issue: 1 )