A Wearable Three-Axis Tactile Sensor for Human Fingertips

Harris Kristanto*, Prathamesh Sathe, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Shigeki Sugano

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


Human training data can scaffold robot imitation learning. However, most datagloves only record joint angles, but for many tasks, force control is more important. They also cover the human skin, thereby making a natural interaction of the human with the object impossible. This letter suggests a wearable sensor that can measure the three-axis force vector exerted at the fingertip, without covering the skin that contacts the object. Using two small-sized Hall effect based three-axis sensors mounted on the sides of the fingertips, the finger pad deformation resulting from the force vector acting on the fingertip is measured. Experiments with ten subjects show that the force vectors can be measured with reasonable precision. Furthermore, the influence of the Earth's magnetic field and the finger's orientation on the finger tactile sensor's measurement has been reduced from ± 4N to ± 1N.

Original languageEnglish
Article number8430516
Pages (from-to)4313-4320
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
Publication statusPublished - 2018 Oct


  • Haptics and haptic interfaces
  • force and tactile sensing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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