Finger-mounted tactile sensor for evaluating surfaces

Ryo Kikuuwe, Kenta Nakamura, Motoji Yamamoto

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)430-440
Number of pages11
JournalJournal of Robotics and Mechatronics
Issue number3
Publication statusPublished - Jun 2012

All Science Journal Classification (ASJC) codes

  • Computer Science(all)
  • Electrical and Electronic Engineering


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