Kon Shoha, Ushiyama Keigo, Mizoguchi Izumi, Kajimoto Hiroyuki
Department of Informatics, Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan.
Japan Society for the Promotion of Science (JSPS), Chiyoda, Japan.
Sci Rep. 2025 Mar 3;15(1):7453. doi: 10.1038/s41598-025-91970-5.
In recording and reproducing skills involving the fingertips, a sensor that measures tactile information of fingertips is important. However, when the sensor covers the finger pad, the inherent sense of touch is compromised. We introduce a new tactile sensor, a pair of a vibration motor and a 6 degrees-of-freedom sensor attached to a fingernail that enables tactile sensing without covering the fingertip. This sensor estimates finger contact information by measuring vibrations caused by an eccentric motor positioned on the fingernail. The time series of the acquired angular velocity and acceleration data were utilized to identify the edge orientation and the contact position of the touching object. The results of the conducted experiments indicated that this setup can simultaneously identify both the edge orientation and the contact position with an accuracy of 71.67%. Potential applications include remote tactile transmission, integration with a robotic finger, and the detection of grasping postures in real objects.
在涉及指尖的记录和再现技能中，测量指尖触觉信息的传感器很重要。然而，当传感器覆盖指腹时，固有的触觉会受到影响。我们推出了一种新型触觉传感器，它是一对附着在指甲上的振动电机和一个六自由度传感器，能够在不覆盖指尖的情况下实现触觉传感。该传感器通过测量指甲上偏心电机产生的振动来估计手指接触信息。利用采集到的角速度和加速度数据的时间序列来识别触摸物体的边缘方向和接触位置。实验结果表明，这种装置能够同时识别边缘方向和接触位置，准确率为71.67%。潜在应用包括远程触觉传输、与机器人手指集成以及真实物体抓握姿势的检测。
