Haptic Interaction

Volume 277 of the series Lecture Notes in Electrical Engineering pp 141-143


Normal and Tangential Force Decomposition and Augmentation Based on Contact Centroid

  • Sunghoon YimAffiliated withPohang University of Science and Technology (POSTECH)
  • , Seokhee JeonAffiliated withKyung Hee University
  • , Seungmoon ChoiAffiliated withPohang University of Science and Technology (POSTECH) Email author 

* Final gross prices may vary according to local VAT.

Get Access


This study presents a simple but effective approach to extract and selectively augment normal and tangential force components from a reaction force when a user interacts with a real object using a probe. The approach first approximates the behavior of a contact area with a single representative point, i.e., contact centroid. We use it to decompose the reaction force into a normal and a tangential force component. For augmentation, the two components are selectively amplified or diminished. For demonstration, we applied the approach in a breast tumor palpation scenario, where inhomogeneity due to hard nodules is amplified for better detectability of abnormality.


Augmentation Palpation Inhomogeneity Contact centroid