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Wearable Ubiquitous Technol."],"published-print":{"date-parts":[[2024,8,22]]},"abstract":"<jats:p>Tactile sensing is an indispensable capability for humans or intelligent devices to engage in complex physical interactions. Mainstream tactile sensors are contact-based, which show limitation in measuring deformable objects and demanding high maintenance effort. As a complementary solution, a new paradigm of contactless tactile sensing is attracting much interest. While promising, they can only identify coarse-grained single tactile perception properties, either material type or surface roughness. In this paper, we propose airTac, which includes a novel contactless digital tactile receptor model, capable of simultaneously extracting these two basic tactile properties in a fine-grained resolution, by harnessing the massive bandwidth of terahertz(THz) frequency band. airTac is designed based on our key finding: while the impact of material type and surface roughness on THz signal intertwine with each other, they are actually separable, i.e., roughness manifests a certain pattern in distorting relative high-frequency components of the whole THz spectrum. Therefore, we custom-design a bio-inspired deep neural network model to decouple the intertwined THz signal, and distill the tactile perception properties embedded underlying the signal. We prototype airTac using a THz time domain spectroscopy, and perform extensive evaluation over 9 different daily material types with 39 different surface roughness. airTac achieves a material identification accuracy of 97.43% and a roughness classification accuracy of 91.46%, which demonstrates that airTac can identify common materials in daily life and exceed a fingertip spatial resolution of 1mm.<\/jats:p>","DOI":"10.1145\/3678586","type":"journal-article","created":{"date-parts":[[2024,9,9]],"date-time":"2024-09-09T14:36:21Z","timestamp":1725892581000},"page":"1-37","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":7,"title":["airTac: A Contactless Digital Tactile Receptor for Detecting Material and Roughness via Terahertz Sensing"],"prefix":"10.1145","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5361-7077","authenticated-orcid":false,"given":"Zhan","family":"Zhang","sequence":"first","affiliation":[{"name":"State key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-3784-4235","authenticated-orcid":false,"given":"Denghui","family":"Song","sequence":"additional","affiliation":[{"name":"State key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8785-3350","authenticated-orcid":false,"given":"Anfu","family":"Zhou","sequence":"additional","affiliation":[{"name":"State key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7199-5047","authenticated-orcid":false,"given":"Huadong","family":"Ma","sequence":"additional","affiliation":[{"name":"State key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2024,9,9]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/3570361.3613275"},{"key":"e_1_2_1_2_1","volume-title":"Nondestructive Evaluation and Health Monitoring of Aerospace Materials, Composites, and Civil Infrastructure V","author":"Anastasi Robert F","unstructured":"Robert F Anastasi and Eric I Madaras. 2006. 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