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Sensors 2014, 14(3), 4899-4913;

A Finger-Shaped Tactile Sensor for Fabric Surfaces Evaluation by 2-Dimensional Active Sliding Touch

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
National Key Laboratory of Human Factors Engineering, Beijing 100094, China
Author to whom correspondence should be addressed.
Received: 8 January 2014 / Revised: 12 February 2014 / Accepted: 18 February 2014 / Published: 11 March 2014
(This article belongs to the Special Issue Tactile Sensors and Sensing Systems)
Full-Text   |   PDF [504 KB, uploaded 21 June 2014]


Sliding tactile perception is a basic function for human beings to determine the mechanical properties of object surfaces and recognize materials. Imitating this process, this paper proposes a novel finger-shaped tactile sensor based on a thin piezoelectric polyvinylidene fluoride (PVDF) film for surface texture measurement. A parallelogram mechanism is designed to ensure that the sensor applies a constant contact force perpendicular to the object surface, and a 2-dimensional movable mechanical structure is utilized to generate the relative motion at a certain speed between the sensor and the object surface. By controlling the 2-dimensional motion of the finger-shaped sensor along the object surface, small height/depth variation of surface texture changes the output charge of PVDF film then surface texture can be measured. In this paper, the finger-shaped tactile sensor is used to evaluate and classify five different kinds of linen. Fast Fourier Transformation (FFT) is utilized to get original attribute data of surface in the frequency domain, and principal component analysis (PCA) is used to compress the attribute data and extract feature information. Finally, low dimensional features are classified by Support Vector Machine (SVM). The experimental results show that this finger-shaped tactile sensor is effective and high accurate for discriminating the five textures. View Full-Text
Keywords: tactile sensor; surface texture measurement; fabric texture classification tactile sensor; surface texture measurement; fabric texture classification
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Hu, H.; Han, Y.; Song, A.; Chen, S.; Wang, C.; Wang, Z. A Finger-Shaped Tactile Sensor for Fabric Surfaces Evaluation by 2-Dimensional Active Sliding Touch. Sensors 2014, 14, 4899-4913.

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