Ye, X. Choi, B. Choi, H. Kang, S. 2024-01-12T07:53:12Z 2024-01-12T07:53:12Z 2022-03-07 2007-08 0000-0000 https://pubs.kist.re.kr/handle/201004/81445 In this paper a hand-held sensor for surface texture perception is presented. The sensor with a metal contact probe is able to measure the roughness and frictional property of a surface, which are among the most important parameters for contact texture perception. Two strain gauges and a force sensor are employed to measure 3D-contact forces at the tip of the contact probe. The friction coefficient can be calculated by using the normal force and tangential one. A PVDF film is used for the dynamic sensing of contact stress in the axial direction of the contact probe. Measurement results are transmitted to a host computer via Bluetooth wireless communication link for further data processing. Design issues are discussed in details, and the preliminary experimental evaluations are performed. ？2007 IEEE. English IEEE Pen-type sensor for surface texture perception Conference 10.1109/ROMAN.2007.4415162 1 16th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN, pp.642 - 647 16th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 642 647 US Jeju 2007-08-26 Proceedings - IEEE International Workshop on Robot and Human Interactive Communication 2-s2.0-48749089468