Sensing texture using an artificial finger and a data analysis based on the standard deviation

Sensing texture using an artificial finger and a data analysis based on the standard deviation

For access to this article, please select a purchase option:

Buy article PDF
(plus tax if applicable)
Buy Knowledge Pack
10 articles for $120.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Your details
Why are you recommending this title?
Select reason:
IET Science, Measurement & Technology — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

The results from experiments with a screen-printed piezoelectric sensor, mounted on an artificial finger-tip and including a cosmetic covering, are shown to detect surface information from regular texture patterns. For the automatic control of an artificial hand and to feedback information to the amputee, an algorithm has been developed based on the standard deviation (SD) of signal data from the sensor. The SD analysis for texture detection is novel as it uses a combination of arithmetic processes. It windows the data sequentially and calculates the SD of the data in the windows and then averages the SDs. The output from the algorithm is the frequency spectrum of a signal. Plots, from the output of the algorithm, show events that correspond to the cyclic waveforms produced from the regularity of object surface patterns. The results from the algorithm are confirmed with an analysis of the signals using fast Fourier transforms.


    1. 1)
    2. 2)
    3. 3)
    4. 4)
    5. 5)
    6. 6)
    7. 7)
    8. 8)
    9. 9)
    10. 10)
    11. 11)
    12. 12)
      • 12. Grollius, S., Kuhbauch, B., Gauterin, F.: ‘Development of a three-dimensional road texture measurement as a first step towards tyre road contact simulation’. Proc. IMEchE Part D Journal of Automobile Engineering, 2012, pp. 19.
    13. 13)
    14. 14)
      • 14. Haopeng, L., Flierl, M.: ‘Sift-based improvement of depth imagery’. IEEE Int. Conf. Multmedia Expo ICME, 2011, pp. 16.
    15. 15)
    16. 16)
    17. 17)
    18. 18)
    19. 19)
    20. 20)
      • 20. Cotton, D.P.J., Cranny, A., White, N.M., et al: ‘Design and development of integrated thick film sensors for prosthetic hands’. Proc. Seventh Biennial Conf. Engineering Systems Design Analysis, 2004, pp. 573589.
    21. 21)
      • 21. Muridan, N., Chappell, P.H., Cotton, D.P.J., et al: ‘Detection of slip from multiple sites in an artificial finger’, Sens. Appl. XV, Heriot Watt University, Edinburgh, Scotland, 05–07 Oct 2009, IOP Publishing, pp. 16.
    22. 22)
    23. 23)
      • 23. Jamali, N., Sammut, C.: ‘Material classification by tactile sensing using surface textures’. IEEE Int. Conf. Robot Auto, Anchorage Alaska, 2010, pp. 23362341.
    24. 24)
    25. 25)
      • 25. Vallbo, A.B., Johansson, R.S.: ‘Properties of cutaneous mechanoreceptors in the human hand related to touch sensation’, Hum. Neurobiol., 1984, 3, (1), pp. 314.
    26. 26)
      • 26. Kandel, E., Schwartz, J., Jessell, T.: ‘Principles of neural science’ (McGraw Hill, 2000, 4th edn.), no. 1.
    27. 27)
    28. 28)
    29. 29)
    30. 30)
      • 31. Lederman, S.J., Klatzky, R.L., Hamilton, C.L., et al: ‘Perceiving roughness via a rigid probe: psychophysical effects of exploration speed and mode of touch’, Haptics-e Electron. J. Haptic. Res., 1999, 1, pp. 121.
    31. 31)
    32. 32)
    33. 33)
      • 34. Tan, D.W., Schiefer, M.A., Keith, M.W., et al: ‘A neural interface provides long-term stable natural touch perception’, Sci. Transl. Med., 2104, 6, (257), pp. 115.
    34. 34)
      • 35. Vega-Bermudez, F., Johnson, K.O.: ‘SA1 and RA receptive fields, response variability, and population responses mapped with a probe array’, J. Neurophysiol., 1999, 81, pp. 27012710.

Related content

This is a required field
Please enter a valid email address