04167nas a2200229 4500008004500000245007700045210006900122260003400191300001000225520347300235653001203708653001303720100001503733700002103748700001703769700001603786700001303802700001503815700002003830700001903850856006803869 2015 engldsh 00aCharacterization of Nonlinear Finger Pad Mechanics for Tactile Rendering0 aCharacterization of Nonlinear Finger Pad Mechanics for Tactile R aChicago, USA, 22-25 June 2015 a63-683 a

The computation of skin forces and deformations for tactile rendering requires an accurate model of the extremely nonlinear behavior of the skin. In this work, we investigate the characterization of fingermechanics with the goal of designing accurate nonlinear models for tactile rendering. First, we describe a measurement setup that enables the acquisition of contact force and contact area in the context of controlled finger indentation experiments. Second, we describe an optimization procedure that estimates the parameters of strain-limiting deformation models that match best the acquired data. We show that the acquisition setup allows the measurement of force and area information with high repeatability, and the estimation method reaches nonlinear models that match the measured data with high accuracy.

10aHaptics10aRobotics1 aMiguel, E.1 aD'Angelo, M., L.1 aCannella, F.1 aBianchi, M.1 aMemeo, M1 aBicchi, A.1 aCaldwell, D. G.1 aOtaduy, M., A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7177692