An Open-Source Robotic Tool for the Simulation of Quasi-Static Finger Pressing on Stationary and Vibrating Surfaces

descriptionPublicationkeyboard_double_arrow_right Article 01 Apr 2021 Italy Publisher:Institute of Electrical and Electronics Engineers (IEEE)Journal:IEEE Transactions on Haptics, volume 14, pages 273-278 (issn: 1939-1412, eissn: 2334-0134,

Copyright policy )Funded by:SNSF | Haptic technology and eva...

Authors: Yuri De Pra; Stefano Papetti; Federico Fontana; Emidio Tiberi;

APC: 1,894.72 EUR

doi: 10.1109/toh.2021.3076052 , 10.5281/zenodo.6606251 , 10.5281/zenodo.6606252

pmid: 33905336

handle: 11390/1207105

An Open-Source Robotic Tool for the Simulation of Quasi-Static Finger Pressing on Stationary and Vibrating Surfaces

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Abstract

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.

+ ID: 579953 + PeerReviewed: Peer Reviewed

Country

Italy

Related Organizations

University of Udine
Italy
Zurich University of the Arts
Switzerland

Keywords

Measurement, End effectors; Fingers; Force; Force measurement; Impedance; Pressing; Tools, Fingers, Robotic Surgical Procedures, Touch Perception, Touch, Finger, Humans, Tool, Computer Simulation, Pressing Force

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