Abstract
The phenomenon through which vibrations are produced with frequencies related to the period of fingerprint ridges and the speed they slide across a surface is known as the fingerprint effect. Here, we use a simple bioinspired sensor with parallel, straight, fingerprint-like ridges and a single ferroelectric ceramic transducer to show that the fingerprint effect is orientation dependent and that, if the orientation is known, it can be used to estimate slip speed. Our results, obtained at sliding speeds of 15, 20, and 25 mm/s and orientations from 0° to 90°, clearly demonstrate this dependence. We then describe a simple algorithm for estimating slip speed in real time. Using experimental results as input, we use that algorithm to run simulations, using MATLAB software, of real-time slip speed estimation. From these simulations, we identify some tradeoffs in parameter selection for the slip speed estimation algorithm. Finally, the fingerprint effect is used for real-time slip speed estimation for feedback in a controlled slip experiment.
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