Abstract
Humans perceive the surface properties of objects by sliding their fingertips on the object. We have proposed the method to measure the changes in the contact area by a camera and evaluate the haptic feeling of a human. However, the obtained images are affected by the color of an object and the lighting condition of the environment. To solve this problem, we propose to evaluate the slippage based on the center of pressure (CoP) by using a 6-axis force sensor. In this paper, we report the CoP data for different surface texture and discuss the results.
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