GelForce: A traction field tactile sensor for rich human-computer interaction

Recent advances in vision-based tactile sensation have given rise to a novel class of high-performance sensing devices that measure traction fields (i.e. distributions of 3-D force vectors) with density comparable to the biological sense of touch. While this has been an emerging trend in robotics, it introduces diverse new possibilities for human-computer interaction as well. We describe how to apply computer vision techniques to measure the traction field applied to the surface of a silicone body, and discuss the potential of using the computed vector distribution as a rich and versatile interface for interactive desktop applications.