TacClip通过指甲夹式光栅传感器无感测量指尖动态触力。
TacClip: a clip-on sensor measures dynamic contact forces without covering the fingerpads
- 指甲夹嵌入光纤光栅，无电子元件，不遮挡指尖
- 0-8牛范围内力值误差低于0.5牛，可捕捉滑动振动
- 适合需要真实触感的交互场景，如穿戴式手部追踪
TacClip是一种轻量级可穿戴设备，通过安装在指甲上的小型塑料夹片中的光纤布喇格光栅（FBG）记录指尖受力导致的形变与振动。该设计不覆盖指腹，可与视觉或手套式手势追踪系统结合使用，保留用户对纹理、摩擦、温度和微表面特征的自然感知。实验显示，在0–8牛力范围内，力值估计误差通常低于0.5牛；在布料处理和胶带边缘探测任务中，能有效捕捉探索性滑动产生的动态事件。由于无电子元件，该设备还可浸入水中使用，同时保持裸指接触。额外的聚酰亚胺条上可布置更多FBG以辅助基于相机的姿态估计。
原文摘要 · Abstract (English)
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.
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