6852412158

Saekwang Nam

HAPTIC INTELLIGENCE

MAX PLANCK INSTITUTC POR INTElllGENT SYSTEMS

Sweat Softens the Outermost Layer of the Humań Finger Pad: Evidence from Simulations and Experiments

Ham ard Katherin# J. Kuch#n6oc¹r

Htętoc tnte²Qeoce Dopartmoa!. Ptinck Insatuie for totefcgent Systems

Flnlte Element Model

The sottn#s# of human ftnp#r padł f«ndor$ highły    ot grasplng o6)²cU

Mow much does the swrat wwtW bom M Kun soft#n the inger pad?

II« not fcasibic to mcchancefty test n v²vo slon to utocrstand the prcperbes ot ²># stratum corneom layer tostead. wo Infer the itratum coc ncuma properttos by Mtnj a tn²e etement model to particulir correct data. We thtn compore the optlmlaed materia! propenie² for dry. nahrU. and mc²t Inger²

Research Process

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1    0#¹gn tor th# lng#r pr#¹ng KmUabom « CO^SOC _«

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Paramotor Optimlzation

W# Morcfod tor oę&~²x«J y vato#s th²» protode ta mnm«m m#²n tooared #rror |MSC) b#hw#en th# ston/etod and m#etur#d data by r#peaftng the s^rotaion ²eh de«r#m comfcwator² ot #_K and ^.

Th# opamoed v²to#s o² th# thear modjtoa tor eech bitu# typ# (Kretom corrxvm re#t oł W>g#ł) produce a r#lafconihp txe»e#n the imtatod correct af#a a^J »a normai tero# ctose to th# ttUacmhe fcxnd m th# m#aur#d data.

The e²vaet#d ccmbrnatons (hk-M#/) repreient t» aohosa of th# t#K#d fnp#r to th# dy. raiurai. anj »0d« Kaaea

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•    Th# (totrcK# mean moćiture vatoes re^jeed dflerent shear modufc to ²eh²v# a good fu to e²penmer²ai data

•    Th# modt ftnp#r pad haa higher correct aree than the oTor ino fmger condrtons at the sam# normai lorce.

•    The stratom com#um ot re most bng#r o mdced KgnfcantJy sotter o²x - J2.tSSkP²) tfvan th² ot the sam# finptr v%hen <tsłnanaturalo²_K • 6bJi2kpj)ordry b_K • eaotoihj) itate.

1

•    Each raw correct image ts transtormed to eetmate the mage rot the camera wc²rfd see it A was posrfcncd perpendcuUr to the gtass pfato

2

   The raw deu consdt ot une-stacfced i^gerpont imago² and the wrwcntog normai lorce measuremerfci

•    The two data soutoes are sync²rori»d «²h one another based cn tm# ttamps

3

•    Otobei threshcfdng and then tocai adaptwe rresho»<$ng on each image prodoce binery mapes. prov²dng t²e reaf łnjor correct ar²a |2J.

4

•    The gros² correct area is całcutatod by oxoractng the corrze² hol of the potefts constoered to be in contact