Tactile and Proximity Servoing by a Multi-modal Sensory Soft Hand
We present the manufacturing and the implementation of a multi-modal sensory soft hand for the interaction with conductive and non-conductive objects. The hand sensors were mounted on two fabric layers with three sensory modularities: touch, proximity, and curvature. Servoing behavior is generated based on the estimation of the center of touch (force sensitive resistor) and the center of proximity (proximity sensitive capacitor). Results are presented on human subjects wear the hand, and a set of vibration motors that work as haptic feedback for the center of stimulation. Driven by vibration, the system guides the subject to explore conductive objects. Servoing behavior is generated based on the estimation of the center of stimulations without visual feedback.
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