A Study on Tele-Existence of the Tactile Sense

This report describes, first, a glove with joint angle sensors made of chip coils to detect the joint angles of human fingers in real time and also describes artificial fingers with multiple joints used for a tele-existence system on the tactile sense. Characteristics of the artificial skin to be attached to the artificial fingers are based on the experimental results of force-displacement characteristics of the human skin. Secondly, sensations produced by the pressure and the strain applied to the finger tip surface were measured as functions of pressure force level and the direction of the strain force using psychophysical techniques. A study of pressure sense and a force vector sensor is useful from the view point of the tele-existence system for the tactile sense.