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Tactile sensing is a essential for skilled manipulation and objectperception, but existing devices are unable to capture mechanical signals inthe full gamut of regimes that are important for human touch sensing, and areunable to emulate the sensing abilities of the human hand. Recent researchreveals that human touch sensing relies on the transmission of mechanical wavesthroughout tissues of the hand. This provides the hand with remarkableabilities to remotely capture distributed vibration signatures of touchcontact. Little engineering attention has been given to important sensorysystem. Here, we present a wearable device inspired by the anatomy and functionof the hand and by human sensory abilities. The device is based on a 126channel sensor array capable of capturing high resolution tactile signalsduring natural manual activities. It employs a network of miniature three-axissensors mounted on a flexible circuit whose geometry and topology were designedmatch the anatomy of the hand, permitting data capture during naturalinteractions, while minimizing artifacts. Each sensor possesses a frequencybandwidth matching the human tactile frequency range. Data is acquired in realtime via a custom FPGA and an I$^2$C network. We also present physiologicallyinformed signal processing methods for reconstructing whole hand tactilesignals using data from this system. We report experiments that demonstrate theability of this system to accurately capture remotely produced whole handtactile signals during manual interactions.

A Wearable Tactile Sensor Array for Large Area Remote Vibration Sensing in the Hand