Perception-Inspired Haptic Force Sensor – A Concept Study

This paper proposes a new perception-based concept for force sensing in haptic systems. By using two different sensing principles, a better adaption to the human sensory system can be achieved. Based on the tactile and kinesthetic parts of haptic perception, this is done using different sensing principles, nominal ranges, bandwidth and degrees of freedom for each part. The requirements of each part are described in detail and possible realizations are investigated. The proposed concept allows for a better quality of haptic feedback at lower costs.