３次元計測に基づく指腹部変形の解析

抄録

At the fingertips, there are many tactile receptors that are important for human tactile perception. We are developing a method to estimate the force applied to the fingertip and the incipient slip on the contact surface based on the deformation of the finger pad. It is known that the deformation of the finger pad varies depending on the person and the contact state with the object. Therefore, it is necessary to clarify individual differences in finger pad deformation when the fingertip and an object come into contact. In this paper, we report 3D fingertip deformation using a 3D scan system with a device that can quantitatively press an object to a fingertip. The press device is created by a 3D printer and can keep pressing a finger by a precision stage. From the experimental results, it is shown that the finger pad deformation can be measured three-dimensionally and with high accuracy.