TacClip: a clip-on sensor measures dynamic contact forces without covering the fingerpads

2026-09-08

AI Summary

TacClip通过安装在指甲上的光纤布拉格光栅传感器测量指尖因接触力和振动引起的变形，提供动态接触交互测量，同时保持自然触感。

Abstract

TacClip is a minimally encumbering wearable device for recording fingertip deformation caused by contact forces and vibrations. It can be combined with vision- or glove-based hand tracking systems that leave the fingertips uncovered and provides a measure of dynamic contact interactions, while leaving the finger pads exposed so that the user retains natural sensitivity to texture, friction, temperature, and fine surface features. The signal is produced by a Fiber Bragg Grating (FBG) embedded on a small plastic clip mounted over the fingernail. Optionally, for use with vision-based tracking, additional FBGs on polyimide strips can complement camera-based pose estimation. In finger pressing tests, TacClip estimates the force magnitude with typical errors below $0.5~\mathrm{N}$ over a $0$--$8~\mathrm{N}$ range. In tests of cloth handling and tape edge finding, we show that it captures the vibrations and dynamic events generated during exploratory sliding. With no electronics, TacClip can also be used submerged in water, while preserving bare finger contact.

Problem

• fingertip deformation
• contact forces
• vibrations
• natural sensitivity

Innovation

• Fiber Bragg Grating
• wearable device
• dynamic contact forces
• fingertip deformation