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Vision-Based Sensor for Real-Time Measuring of Surface Traction Fields
January/February 2005 (vol. 25 no. 1)
pp. 68-75
Kazuto Kamiyama, University of Tokyo
Kevin Vlack, University of Tokyo
Terukazu Mizota, University of Tokyo
Hiroyuki Kajimoto, University of Tokyo
Naoki Kawakami, University of Tokyo
Susumu Tachi, University of Tokyo
When force is applied to the surface of the skin, the human sense of touch detects not only its magnitude but also its direction, which is essential information for daily tasks. To convey this versatile ability to the realm of personal computing, the GelForce tactile sensor measures in real time a surface traction field or a distribution of 3D force vectors applied to the an elastic body.

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Index Terms:
force vector distribution sensor, traction field, vision, haptics, robot ringer, input device
Kazuto Kamiyama, Kevin Vlack, Terukazu Mizota, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi, "Vision-Based Sensor for Real-Time Measuring of Surface Traction Fields," IEEE Computer Graphics and Applications, vol. 25, no. 1, pp. 68-75, Jan.-Feb. 2005, doi:10.1109/MCG.2005.27
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