Exploring Tactile Information for Dexterous Manipulation

The significant amount of sensory receptors in the human hand permits exploration of the environment and efficient manipulation skills. Although the literature emphasizes the significance of normal forces in human grasping, only few investigations focus on the role of shear forces. This work presents an analysis of human grasping using 20 three-axis magnetic soft skin force sensors that measure both normal and shear forces. Our study includes 12 tasks, performed by six participants, that cover various daily life activities. Results highlight the importance of spatial information and the potential of shear forces for predicting unexpected changes that cannot be observed in normal forces. The final goal is to integrate these sensors in the design of prosthetic hands, to enhance control strategies and the perception of the environment.