01991nas a2200265 4500008004100000022001400041245010900055210006900164260001200233300001200245490000700257520121600264653001201480653001301492100002101505700001701526700001601543700001801559700001801577700001701595700001401612700001501626700002001641856006401661 2017 eng d a1939-141200aAn Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window0 aIntegrated Approach to Characterize the Behavior of a Human Fing c01/2017 a123-1290 v103 a

Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behavior of human fingertip. The output of this characterization can then be exploited to drive the design of numerical models, which can be used to investigate in depth the mechanisms of human sensing. In this work, we present a novel integrated measurement technique and experimental set up for in vivo characterization of the deformation of the human fingertip at contact, in terms of contact area, force, deformation, and pressure distribution. The device presented here compresses the participant's fingertip against a flat surface, while the aforementioned measurements are acquired and experimental parameters such as velocity, finger orientation, and displacement (indentation) controlled. Experimental outcomes are then compared and integrated with the output of a 3D finite element (FE) model of the human fingertip, built upon existing validated models. The agreement between numerical and experimental data represents a validation for our approach.

10aHaptics10aRobotics1 aD'Angelo, M., L.1 aCannella, F.1 aBianchi, M.1 aD'Imperio, M.1 aBattaglia, E.1 aPoggiani, M.1 aRossi, G.1 aBicchi, A.1 aCaldwell, D. G. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=757958204167nas 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=717769200659nas a2200205 4500008003900000245006700039210006500106260004800171300001600219653001200235653001300247100001800260700001600278700002100294700001800315700001700333700002000350700001500370856006800385 2015 d00aA Finite Element Model of Tactile Flow for Softness Perception0 aFinite Element Model of Tactile Flow for Softness Perception aMilano, Italy, August 25th-29th, 2015bIEEE a2430 - 243310aHaptics10aRobotics1 aBattaglia, E.1 aBianchi, M.1 aD'Angelo, M., L.1 aD'Imperio, M.1 aCannella, F.1 aScilingo, E. P.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7318884