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Skill transfer from humans to robots is challenging. Presently, manyresearchers focus on capturing only position or joint angle data from humans toteach the robots. Even though this approach has yielded impressive results forgrasping applications, reconstructing motion for object handling or finemanipulation from a human hand to a robot hand has been sparsely explored.Humans use tactile feedback to adjust their motion to various objects, butcapturing and reproducing the applied forces is an open research question. Inthis paper we introduce a wearable fingertip tactile sensor, which captures thedistributed 3-axis force vectors on the fingertip. The fingertip tactile sensoris interchangeable between the human hand and the robot hand, meaning that itcan also be assembled to fit on a robot hand such as the Allegro hand. Thispaper presents the structural aspects of the sensor as well as the methodologyand approach used to design, manufacture, and calibrate the sensor. The sensoris able to measure forces accurately with a mean absolute error of 0.21, 0.16,and 0.44 Newtons in X, Y, and Z directions, respectively.

FingerTac -- An Interchangeable and Wearable Tactile Sensor for the Fingertips of Human and Robot Hands