Abstract
This paper describes study on contacting motions with fingertips to measure the softness of skin. By the piezoelectric force sensor which was put on the fingertips, it was possible to measure the normal direction force of the fingertips. At the same time, by using the two USB cameras, the position of the fingertips was observed in the three-dimensional space. Here, the stiffness of the skin was derived from the obtained force and position data.
