In this paper, we propose a wearable tactile sensor for measuring the shape of micro-undulations on a hard surface. The proposed sensor has two layers. The inner one is a thin rubber layer into which a strain gauge is embedded that is formed around a user’s finger. The outer layer is a flexible structure that consists of numerous pins on a flexible sheet. The shape of micro-undulations on an object surface can be measured when a user wearing the sensor traces the surface. The results of an experiment, in which we compare the cases with and without the flexible structure of the sensor, show that our proposed sensor is sufficiently accurate to measure the shape of micro-undulations due to its flexible structure, which contributes significantly to improving its signal-to-noise ratio.

中文翻译：

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具有柔性结构的橡胶人造皮层，用于微起伏表面的形状估计

在本文中，我们提出了一种可穿戴的触觉传感器，用于测量硬表面上的微起伏形状。所提出的传感器具有两层。内层是一薄橡胶层，其中嵌入了围绕用户手指形成的应变仪。外层是柔性结构，其由柔性板上的多个销钉组成。当佩戴传感器的用户追踪表面时，可以测量物体表面的微起伏形状。实验结果比较了带有和不带有传感器柔性结构的情况，结果表明，我们提出的传感器由于其柔性结构而足以精确地测量微波纹的形状，这极大地改善了传感器的柔性结构信噪比。