Humanizing Artificial Touch: Skin, Sensing, and Structures contains recent advances in artificial skin modelling and robotic tactile sensing technologies, integrating these in the structure of an artificial hand mimicking its important features. This book will give special treatment to the relationship between the artificial skin material and embedded tactile sensors, describing how artificial skin and embedded sensors can be designed and constructed using 3D printing technologies with case examples on how these were created for amputees achieve a more a natural and rich human-robot tactile interaction.
This book is oriented towards students, researchers, and clinical practitioners who are working in the design and construction of artificial hands for prosthetics and social robotics.
Part I: Introduction
1. Humanizing Artificial Touch
Part II: Simulations and Experiments on Artificial Skins
2. Modelling of Synthetic Skin Materials
3. Skin Conformance, Compliance, and Hysteresis
4. Effects of the Skin Materials on Subsurface Pressure Profile of Local Shapes
5. Recovery Behaviour of Artificial Skins after Object Contact
6. Air Pockets for Lifelike Skin Compliance in Artificial Finger Phalanges
Part III: Tactile Sensing and Bio-Inspired Data Processing
7. Cellulose-Based and Graphene-filled Composites for Tactile Sensing
8. Bio-inspired Tactile Sensing in an Object Grasp-Lift Task
9. Artificial Fingerprints for the Discrimination of Local Shapes
10. Object Shape Discrimination with Sensorized Gloves
11. Reflex-like Methods for Preventing Slippage of Hand-Held Objects
12. Grasping Force Comparisons between Human and Prosthetic Hands
13. Tactile Sensing during Human Handshakes
Part IV: Structural Design and 3D Manufacturing Techniques for Artificial Hands
14. Replication of an Amputee’s Missing Limbs with 3D Scanning
15. Patient-Specific Artificial Finger Manufacturing
16. Patient-Specific Artificial Arm and Hand Manufacturing
17. Design and Analysis of Flexible Joints of 3D Printed Hands
18. Analysis of Openly Accessible 3D Printed Hands
19. Artificial Hand with Lifelike Warmth and Softness
Part V: Conclusions
20. Future Directions
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