Tactile differentiator

This paper proposes the tactile differentiator that can enhance the edge of polygonal surface, through tracing motion. It is composed of a flexible beam anchored at the base with a moment sensor, and an actuator for moving the whole system. When the beam tip passes over the edge where two different planes are intersected with an arbitrary angle, the tactile differentiator provides a step change of output, as if it were just like a differentiator. The edge enhancement factor of sensor is introduced by the shape of beam, the intersection angle of environment, and the contact friction. By using the factor, we discuss the design of the sensor. Experimental results are also shown to verify the basic idea.