Remote measurement of surface compliance distribution using ultrasound radiation pressure

In this paper, we propose a remote measurement system of surface compliance distributions for haptic broadcasting. Our system is composed of an ultrasound phased array generating acoustic radiation pressure on the remote object surface and a laser displacement sensor. The compliance is evaluated by the ratio of the surface displacement to the applied force. We set up a system to examine the feasibility of the method. In the experiments, the distribution of the surface compliance comparable to the human skin was successfully measured for a flat object surface.