{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T09:14:52Z","timestamp":1766135692514,"version":"3.41.0"},"reference-count":22,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2005,1,1]],"date-time":"2005-01-01T00:00:00Z","timestamp":1104537600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Appl. Percept."],"published-print":{"date-parts":[[2005,1]]},"abstract":"<jats:p>This paper introduces a device for enhancing detection of surface undulation through active touch. This device, which we call a \u201ctactile contact lens,\u201d is composed of a sheet and numerous pins arranged on one side of the sheet. Experimental results show that a small bump on a surface can be detected more accurately through this device than by bare finger and than through a flat sheet. A mathematical analysis of this phenomenon suggests two possible explanations for this phenomenon. One lies in the lever-like behavior of the pins. The pins convert the local inclination of the object surface into the tangential displacement of the skin surface. The second is the spatial aliasing effect resulting from the discrete contact. Due to this effect, the temporal change in the skin surface displacement is efficiently transduced into the temporal change in the skin tissue strain. The results of this analysis are then discussed in relation to other sensitivity-enhancing materials, tactile sensing mechanisms, and tactile\/haptic display devices.<\/jats:p>","DOI":"10.1145\/1048687.1048691","type":"journal-article","created":{"date-parts":[[2005,8,1]],"date-time":"2005-08-01T17:33:57Z","timestamp":1122917637000},"page":"46-67","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":55,"title":["Enhancing haptic detection of surface undulation"],"prefix":"10.1145","volume":"2","author":[{"given":"Ryo","family":"Kikuuwe","sequence":"first","affiliation":[{"name":"Touch Technology Laboratory Funded By Toyota, Nagoya Institute of Technology, Nagoya, Japan"}]},{"given":"Akihito","family":"Sano","sequence":"additional","affiliation":[{"name":"Touch Technology Laboratory Funded By Toyota, Nagoya Institute of Technology, Nagoya, Japan"}]},{"given":"Hiromi","family":"Mochiyama","sequence":"additional","affiliation":[{"name":"Touch Technology Laboratory Funded By Toyota, Nagoya Institute of Technology, Nagoya, Japan"}]},{"given":"Naoyuki","family":"Takesue","sequence":"additional","affiliation":[{"name":"Touch Technology Laboratory Funded By Toyota, Nagoya Institute of Technology, Nagoya, Japan"}]},{"given":"Hideo","family":"Fujimoto","sequence":"additional","affiliation":[{"name":"Robotics and Automation Laboratory, Nagoya Institute of Technology, Nagoya, Japan"}]}],"member":"320","published-online":{"date-parts":[[2005,1]]},"reference":[{"volume-title":"Introduction to Bessel Function","author":"Bowman F.","key":"e_1_2_1_1_1","unstructured":"Bowman , F. 1958. 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A. 2003 . 3-D finite-element models of human and monkey fingertips to investigate the mechanics of tactile sense . J. Biomech. Eng. 125 , 682 -- 691 . Dandekar, K., Raju, B. I., and Srinivasan, M. A. 2003. 3-D finite-element models of human and monkey fingertips to investigate the mechanics of tactile sense. J. Biomech. Eng. 125, 682--691.","journal-title":"J. Biomech. Eng."},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900301"},{"key":"e_1_2_1_5_1","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1177\/027836498500400304","article-title":"Basic solid mechanics for tactile sensing","volume":"4","author":"Fearing R. S.","year":"1985","unstructured":"Fearing , R. S. and Hollerbach , J. M. 1985 . Basic solid mechanics for tactile sensing . Int. J. Robotics Res. 4 , 3, 40 -- 54 . Fearing, R. S. and Hollerbach, J. M. 1985. Basic solid mechanics for tactile sensing. Int. J. Robotics Res. 4, 3, 40--54.","journal-title":"Int. J. 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In Proceedings of 8th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. 1309--1314."},{"key":"e_1_2_1_8_1","doi-asserted-by":"crossref","first-page":"1655","DOI":"10.1523\/JNEUROSCI.07-06-01655.1987","article-title":"Tactile discrimination of shape: responses of slowly adapting mechanoreceptor afferents to a step stroked across the monkey fingerpad","volume":"7","author":"Lamotte R. H.","year":"1987","unstructured":"Lamotte , R. H. and Srinivasan , M. A. 1987 . Tactile discrimination of shape: responses of slowly adapting mechanoreceptor afferents to a step stroked across the monkey fingerpad . J. Neurosci. 7 , 1655 -- 1671 . Lamotte, R. H. and Srinivasan, M. A. 1987. Tactile discrimination of shape: responses of slowly adapting mechanoreceptor afferents to a step stroked across the monkey fingerpad. J. Neurosci. 7, 1655--1671.","journal-title":"J. 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