爪色触覚センサによる指の姿勢と指先力の同時推定

抄録

To realize the technology for recording and reproducing procedures performed by highly skilled technicians, we develop a nail color sensor that can be worn on a human fingertip to record tactile information. The color of the nail changes depending on the force applied to the finger cushion and the posture of the finger because the positional relationship between bones, capillaries, and nails changes due to the elastic deformation of the finger cushion. In this study, we develop a nail color tactile sensor that can estimate force information and finger posture information from this change. As a result of the sensor performance evaluation, it is shown that the posture and fingertip force can be estimated simultaneously.