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