Skin vibration and contact force in active perception for roughness ratings

Makiko Natsume, Yoshihiro Tanaka, W.M. Bergmann Tiest, Astrid M.L. Kappers

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

9 Citations (Scopus)

Abstract

When we touch an object, we can obtain tactile information through our skin. Thus it is important to reveal the relationship between the subjective sensation and objective quantities like the skin vibration elicited on our skin. In this paper, we focus on roughness perception, one of the main tactile sensations of materials. We measured skin vibration and contact force in natural active roughness perception for a large set of different materials, of which the physical roughness could be expressed in various industrial roughness measures like Ra. The results showed that there was no relationship between contact force and subjective roughness, so apparently humans do not control contact forces intentionally in a roughness estimation task. Power functions were fitted to each relationship between the other objective parameters and estimated roughness. The goodness-of-fit value of skin vibration was significantly better than any of the other parameters. Thus, the main conclusion is that these results suggest that skin vibration plays a determining role in roughness perception.
Original languageEnglish
Title of host publicationIEEE RO-MAN 2017 : 26th IEEE International Symposium on Robot and Human Interactive Communication, August 28 - September 1, 2017, Lisbon, Portugal
Place of PublicationPiscataway
PublisherIEEE/LEOS
Pages1479-1484
Number of pages6
ISBN (Electronic) 978-1-5386-3518-6
ISBN (Print)978-1-5386-3519-3
DOIs
Publication statusPublished - 8 Dec 2017
Externally publishedYes
Event26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2017) - Lisbon, Portugal
Duration: 28 Aug 20171 Sep 2017
Conference number: 26
http://www.ro-man2017.org/site/

Conference

Conference26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2017)
Abbreviated titleRO-MAN 2017
CountryPortugal
CityLisbon
Period28/08/171/09/17
OtherHuman-Robot Collaboration and Human Assistance for an Improved Quality of Life
Internet address

Bibliographical note

Conference theme: Human-Robot Collaboration and Human Assistance for an Improved Quality of Life

Keywords

  • Subjective roughness rating
  • active touch
  • contact force
  • physical parameter
  • skin vibration

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