visionFinGAR: Transmission of Softness and Shape Motion by Vision Based Tactile Sensor and Combination of Mechanical and Electrical Stimulation

Abstract: This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of tactile sensor consists of a camera and markers, enable to detect a light touch, a pressure or a shape. On the other hand, a unit of tactile display consists of an electrode array and a mechanical arm to provide softness / pressure and shape perception. The display can provide four mode stimulation: anodic, cathodic, mechanical vibration and skin deformation; thus, it can reproduce a large range of tactile sensations. This study mainly aims to transmit a wide range of softness and shape motion perception with a vision based tactile sensor.