FDSense: Estimating Young's Modulus and Stiffness of End Effectors to Facilitate Kinetic ...
summary
System estimates Young's modulus and stiffness of end effectors by combining measured contact force and contact area on a commodity touchpad, implemented on the Sensel Morph and computed with a contact mechanics model based on the Hertz model. Young's modulus estimation requires spherical tips and uses a heuristic for tip radius, stiffness works for convex shapes while force must be rising, and results correlate with ground truth and distinguish materials and hand locations. Two working apps alter painting texture and drum timbre and informal user feedback is positive.
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chapters (6)
- 0:00Introduction to FDSense
- 2:17Kinetic vs kinematic touch
- 4:48Measuring elasticity with FDSense
- 9:27Technical evaluation setup
- 12:39Applications for artists and musicians
- 14:49Q&A session
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