A review of tactile sensing technologies with applications in biomedical engineering

Sensors and Actuators A: Physical - Tập 179 - Trang 17-31 - 2012
Mohsin I. Tiwana1, Stephen J. Redmond1, Nigel H. Lovell1
1Graduate School of Biomedical Engineering, University of New South Wales, Sydney, NSW, 2052, Australia

Tóm tắt

Từ khóa


Tài liệu tham khảo

Harmon, 1982, Automated tactile sensing, The International Journal of Robotics Research, 1, 3, 10.1177/027836498200100201

Harmon, 1984, Tactile sensing for robots, Robotics and Artificial Intelligence, 109, 10.1007/978-3-642-82153-0_5

Harmon, 1980, Touch-sensing technology – a review, Society of Manufacturing Engineers, 58

Lee, 2000, Tactile sensing: new directions, new challenges, The International Journal of Robotics Research, 19, 636, 10.1177/027836490001900702

Nevins, 1977, Research on advanced assembly automation, Computer, 10, 24, 10.1109/C-M.1977.217597

Lee, 1999, Tactile sensing for mechatronics – a state of the art survey, Mechatronics, 9, 1, 10.1016/S0957-4158(98)00045-2

Omata, 2004, Real time robotic tactile sensor system for the determination of the physical properties of biomaterials, Sensors and Actuators A: Physical, 112, 278, 10.1016/j.sna.2004.01.038

Puangmali, 2008, State-of-the-art in force and tactile sensing for minimally invasive surgery, Sensors Journal, IEEE, 8, 371, 10.1109/JSEN.2008.917481

M. Ottermo, O. Stavdahl, T. Johansen, Palpation instrument for augmented minimally invasive surgery, in: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004 (IROS 2004): Proceedings, vol. 4. IEEE, 2004, pp. 3960–3964.

Skoog, 1985

Jaffe, 1971

Okamura, 2009, Haptic feedback in robot-assisted minimally invasive surgery, Current Opinion in Urology, 19, 102, 10.1097/MOU.0b013e32831a478c

Murphy, 2007, Equipment and technology in robotics, Archivos Espanoles de Urologia, 60, 349

Dario, 1985, Tactile sensors and the gripping challenge, IEEE Spectrum, 22, 46, 10.1109/MSPEC.1985.6370785

Pennywitt, 1986, Robotic tactile sensing, Byte, 11, 177

Nicholls, 1989, A survey of robot tactile sensing technology, The International Journal of Robotics Research, 8, 3, 10.1177/027836498900800301

Jayawant, 1989, Tactile sensing in robotics, Journal of Physics E: Scientific Instruments, 22, 684, 10.1088/0022-3735/22/9/002

Russell, 1990

Nicholls, 1992

Eltaib, 2003, Tactile sensing technology for minimal access surgery – a review, Mechatronics, 13, 1163, 10.1016/S0957-4158(03)00048-5

Fraden, 2004

Lee, 1995

Siciliano, 2008

Regtien, 2012

Beeby, 2004

Wettels, 2011

Najarian, 2009

De Rossi, 1991, Artificial tactile sensing and haptic perception, Measurement Science and Technology, 2, 1003, 10.1088/0957-0233/2/11/001

Window, 1992

Dorf, 2010

Dargahi, 2006, Design and microfabrication of a hybrid piezoelectric-capacitive tactile sensor, Sensor Review, 26, 186, 10.1108/02602280610675465

Valdastri, 2005, Characterization of a novel hybrid silicon three-axial force sensor, Sensors and Actuators A: Physical, 123–124, 249, 10.1016/j.sna.2005.01.006

Jockusch, 1997, A tactile sensor system for a three-fingered robot manipulator, 3080

Son, 1994, A tactile sensor for localizing transient events in manipulation, 471

Howe, 1991, A tactile stress rate sensor for perception of fine surface features, Solid-State Sensors and Actuators, 864

Yahud, 2009, Experimental validation of a tactile sensor model for a robotic hand, 2300

Yahud, 2010, Experimental validation of a polyvinylidene fluoride sensing element in a tactile sensor, 5760

R. Johansson, G. Loeb, N. Wettels, D. Popovic, V. Santos, Biomimetic tactile sensor for control of grip, US Patent 7,878,075 (2011).

Wettels, 2008, Biomimetic tactile sensor array, Advanced Robotics, 22, 829, 10.1163/156855308X314533

Hristu, 2000, The performance of a deformable-membrane tactile sensor: basic results on geometrically-defined tasks, 508

Shashank, 2009, Design, simulation and fabrication of a low cost capacitive tactile shear sensor for a robotic hand, 4132

Lee, 2008, Normal and shear force measurement using a flexible polymer tactile sensor with embedded multiple capacitors, Journal of Microelectromechanical Systems, 17, 934, 10.1109/JMEMS.2008.921727

Ko, 2006, A CMOS micromachined capacitive tactile sensor with high-frequency output, Journal of Microelectromechanical Systems, 15, 1708, 10.1109/JMEMS.2006.883569

Salo, 2006, CMOS-sealed membrane capacitors for medical tactile sensors, Journal of Micromechanics and Microengineering, 16, 769, 10.1088/0960-1317/16/4/013

Arshak, 2004

Sergio, 2004, A textile-based capacitive pressure sensor, Sensor Letters, 2, 153, 10.1166/sl.2004.039

Shkel, 2003, Electrostriction enhancement of solid-state capacitance sensing, IEEE/ASME Transactions on Mechatronics, 8, 318, 10.1109/TMECH.2003.816805

Wen, 2008, Tuning the sensing range and sensitivity of three axes tactile sensors using the polymer composite membrane, Sensors and Actuators A: Physical, 145–146, 14, 10.1016/j.sna.2007.10.011

Qin, 2006, Research on new tactile sensing costume of intelligent robots, Chinese Journal of Sensors and Actuators, 19, 824

Hasegawa, 2004, Amicromachined active tactile sensor for hardness detection, Sensors and Actuators A: Physical, 114, 141, 10.1016/j.sna.2003.11.038

Zhang, 2002, Hybrid resistive tactile sensing, IEEE Transactions on Systems Man and Cybernetics, Part B: Cybernetics, 32, 57, 10.1109/3477.979960

Hsieh, 2001, A contact-type piezoresistive micro-shear stress sensor for above-knee prosthesis application, Journal of Microelectromechanical Systems, 10, 121, 10.1109/84.911100

Hsieh, 2002, The development of a new contact type piezoresistive micro-shear-stress sensor, 285

Xi, 2009, Tele-manipulator with tactile tele-presence and myoelectric bionic control, Jiqiren/Robot, 31, 270

Qasaimeh, 2009, PVDF-based microfabricated tactile sensor for minimally invasive surgery, Journal of Microelectromechanical Systems, 18, 195, 10.1109/JMEMS.2008.2008559

Li, 2008, Flexible dome and bump shape piezoelectric tactile sensors using PVDF–TrFE copolymer, Journal of Microelectromechanical Systems, 17, 334, 10.1109/JMEMS.2007.911375

Takashima, 2008, Piezoelectric properties of vinylidene fluoride oligomer for use in medical tactile sensor applications, Sensors and Actuators A: Physical, 144, 90, 10.1016/j.sna.2008.01.015

Sokhanvar, 2007, A multifunctional PVDF-based tactile sensor for minimally invasive surgery, Smart Materials and Structures, 16, 989, 10.1088/0964-1726/16/4/006

Tanaka, 2007, Measurement of tactile sensation using sensor system for collecting tactile information, Nihon Kikai Gakkai Ronbunshu, Transactions of the Japan Society of Mechanical Engineers, 73, 817

Tanaka, 2006, Development of a sensor system for collecting tactile information, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers Part C, 72, 3818

Motojima, 2007, Preparation and characterization of carbon microcoils (CMCs), Bulletin of the Chemical Society of Japan, 80, 449, 10.1246/bcsj.80.449

Chen, 2006, Biomimetic tactile sensors with fingerprint-type surface made of carbon microcoils/polysilicone, Japanese Journal of Applied Physics Part 2: Letters, 45, L1019, 10.1143/JJAP.45.L1019

Futai, 2004, A flexible micromachined planar spiral inductor for use as an artificial tactile mechanoreceptor, Sensors and Actuators A: Physical, 111, 293, 10.1016/j.sna.2003.08.017

Li, 1996, Monostructure touch sensor with multifunction for discrimination of material properties, Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), 117, 68

Takenawa, 2009, A soft three-axis tactile sensor based on electromagnetic induction

Chen, 2005, Preparation and property of novel CMC tactile sensors, Nanotechnology Conference and Trade Show (NSTI), 289

Chen, 2004, Novel tactile sensors manufactured by carbon microcoils (CMC), 486

Ohka, 2008, An experimental optical three-axis tactile sensor featured with hemispherical surface, Nihon Kikai Gakkai Ronbunshu, Transactions of the Japan Society of Mechanical Engineers Part C, 74, 1477, 10.1299/kikaic.74.1477

Tan, 2008, Optical fiber based slide tactile sensor for underwater robots, Journal of Marine Science and Application, 7, 122, 10.1007/s11804-008-7055-3

Ohka, 2008, A robotic finger equipped with an optical three-axis tactile sensor, 3425

Yussof, 2007, Development of an optical three-axis tactile sensor for object handing tasks in humanoid robot navigation system, Studies in Computational Intelligence, 76, 43, 10.1007/978-3-540-73424-6_6

Ohka, 2005, An experimental optical three-axis tactile sensor for micro-robots, Robotica, 23, 457, 10.1017/S0263574704001535

Ohka, 2004, Sensing characteristics of an optical three-axis tactile sensor under combined loading, Robotica, 22, 213, 10.1017/S0263574703005538

Windecker, 1999, Optical roughness measurements with fringe projection, Applied Optics, 38, 2837, 10.1364/AO.38.002837

Kim, 2009, Polymer-based flexible tactile sensor up to 32×32 arrays integrated with interconnection terminals, Sensors and Actuators A: Physical, 156, 284, 10.1016/j.sna.2009.08.015

Zhang, 2010, Sensitivity enhancement of a micro-scale biomimetic tactile sensor with epidermal ridges, Journal of Micromechanics and Microengineering, 20, 085012, 10.1088/0960-1317/20/8/085012

Hu, 2010, Bioinspired 3-D tactile sensor for minimally invasive surgery, Journal of Microelectromechanical Systems, 19, 1400, 10.1109/JMEMS.2010.2076778

Hirose, 1978, The development of soft gripper for the versatile robot hand, Mechanism and Machine Theory, 13, 351, 10.1016/0094-114X(78)90059-9

H. Warnecke, R. Schraft, B. Brodbeck, Pilot work site with industrial robots, Water Resources and Environmental Engineering Research Report (State University of New York at Buffalo, Department of Civil Engineering), 1979, pp. 71–86.

G. Stute, H. Erne, Control design of an industrial robot with advanced tactile sensitivity, Water Resources and Environmental Engineering Research Report (State University of New York at Buffalo, Department of Civil Engineering), 1979, pp. 519–527.

J. Dixon, S. Salazar, J. Slagle, Research on tactile sensors for an intelligent naval robot, Water Resources and Environmental Engineering Research Report (State University of New York at Buffalo, Department of Civil Engineering), 1979, pp. 507–517.

Abraham, 1977, Programmable automation of batch assembly operations, Industrial Robot, 4, 119, 10.1108/eb004481

Pfeiffer, 1969, An experimental device to provide substitute tactile sensation from the anaesthetic hand, Medical & Biological Engineering, 7, 191, 10.1007/BF02474175

P. Shaw, R. Coleman, W. Beeson, J.B. Mitchell, Design for a microcomputer controlled upper-limb prosthesis, NASA Conference Publication (1979) 21–25.

Stojiljkovic, 1977, Integrated behavior of artifical skin, IEEE Transactions on Biomedical Engineering, 24, 396, 10.1109/TBME.1977.326152

Kato, 1977, Artificial softness sensing – an automatic apparatus for measuring viscoelasticity, Mechanism and Machine Theory, 12, 11, 10.1016/0094-114X(77)90053-2

Kinoshita, 1975, A pattern classification by dynamic tactile sense information processing, Pattern Recognition, 7, 243, 10.1016/0031-3203(75)90009-6

De Rossi, 1988, Artificial sensing skin mimicking mechanoelectrical conversionproperties of human dermis, IEEE Transactions on Biomedical Engineering, 35, 83, 10.1109/10.1343

Athenstaedt, 1982, Epidermis of human skin: pyroelectric and piezoelectric sensor layer, Science, 216, 1018, 10.1126/science.6177041

Sorab, 1988, Tactile sensory monitoring of clinician-applied forces during delivery of newborns, IEEE Transactions on Biomedical Engineering, 35, 1090, 10.1109/10.8695

Allen, 1988, Measuring clinician-applied forces during birth using tactile sensing technology, 1285

Dario, 1984, Ferroelectric polymer tactile sensors with anthropomorphic features, 332

Burger, 1987, Compact electronic module for the non-visual display of alphanumerical data, 1731

Liard, 1987, Portable terminal for the blind based on an audio-tactile display, 1956

Neuman, 1982, Physical and chemical sensors for medical instrumentation, Medical Progress through Technology, 9, 95

Raibert, 1982, Design and implementation of a VLSI tactile sensing computer, The International Journal of Robotics Research, 1, 3, 10.1177/027836498200100301

Dario, 1991, Tactile sensing: technology and applications, Sensors Actuators, 251, 10.1016/0924-4247(91)87001-J

Wickham, 1987, The new surgery, British Medical Journal, 29, 1581, 10.1136/bmj.295.6613.1581

Litynski, 1999, Endoscopic surgery: the history the pioneers, World Journal of Surgery, 23, 745, 10.1007/s002689900576

U. Voges, Technology in laparoscopy – what to expect in the future, Urologe Ausgabe (a) 35 (1996) 208–214.

Sastry, 1997, Milli-robotics for remote minimally invasive surgery, Robotics and Autonomous Systems, 21, 305, 10.1016/S0921-8890(96)00082-6

Pawluk, 1998, A distributed pressure sensor for biomechanical measurements, Journal of Biomechanical Engineering, 120, 302, 10.1115/1.2798317

Brett, 1997, A technique for measuring contact force distribution in minimally invasive surgical procedures, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 211, 309, 10.1243/0954411971534430

Matsumoto, 1997, A tactile sensor for laparoscopic cholecystectomy, Surgical Endoscopy, 11, 939, 10.1007/s004649900492

Barnes, 1997, The realization of a haptic (force feedback) interface device for the purpose of angioplasty surgery simulation, Biomedical Sciences Instrumentation, 33, 19

Plinkert, 1997, A tactile sensor for differentiation of tissue in minimally invasive ENT surgery [ein taktiler sensor zur gewebe-differenzierung in der minimal invasiven hno-chirurgie], Laryngo-Rhino-Otologie, 76, 543, 10.1055/s-2007-997476

L. Kory, A. Morimoto, T. McFarlane, T. Bocklage, M. Curet, Force sensor for laparoscopic surgical instrument, Journal of Investigative Medicine 47 (2) (1999) .

Fischer, 1996, Tactile optical sensor for use in minimal invasive surgery, Studies in Health Technology and Informatics, 29, 623

Ohtsuka, 1995, Application of a new tactile sensor to thoracoscopic surgery: experimental and clinical study, The Annals of Thoracic Surgery, 60, 610, 10.1016/0003-4975(95)00483-2

Service Robot, MCB University Press, Bradford, West Yorkshire, England, 1995.

Hohm, 1999, Using incremental learning for transition from rule based behavior to motion sequences for motor control of a flexible robot system, VI655

Seitz, 1999, Towards autonomous robotic servicing: using an integrated hand-arm-eye system for manipulating unknown objects, Robotics and Autonomous Systems, 26, 23, 10.1016/S0921-8890(98)00038-4

Ueno, 1996, Model-based vision and intelligent task scheduling for autonomous human-type robot arm, Robotics and Autonomous Systems, 18, 195, 10.1016/0921-8890(95)00077-1

B. Yoshimi, P. Allen, Visual control of grasping, the confluence of vision and control, Springer, 1998, 195–209.

Puangmali, 2008, State-of-the-art in force and tactile sensing for minimally invasive surgery, IEEE Sensors Journal, 8, 371, 10.1109/JSEN.2008.917481

Bholat, 1999, Tactile feedback is present during minimally invasive surgery, Journal of the American College of Surgeons, 189, 349, 10.1016/S1072-7515(99)00184-2

Shah, 2003, Depth cue reliance in surgeons and medical students, Surgical Endoscopy, 17, 1472, 10.1007/s00464-002-9178-y

Schauer, 2003, The learning curve for laparoscopic roux-en-y gastric bypass is 100 cases, Surgical Endoscopy, 17, 212, 10.1007/s00464-002-8857-z

Burdea, 1996

Camarillo, 2004, Robotic technology in surgery: past present and future, The American Journal of Surgery, 188, 2, 10.1016/j.amjsurg.2004.08.025

Bethea, 2004, Application of haptic feedback to robotic surgery, Journal of Laparoendoscopic & Advanced Surgical Techniques, 14, 191, 10.1089/1092642041255441

Tavakoli, 2003, A force reflective master–slave system for minimally invasive surgery, 3077

Okamura, 2003, The haptic scissors: cutting in virtual environments, 828

Hu, 2002, Real-time haptic feedback in laparoscopic tools for use in gastro-intestinal surgery, Lecture Notes in Computer Science, 66, 10.1007/3-540-45786-0_9

Dargahi, 2004, An integrated force-position tactile sensor for improving diagnostic and therapeutic endoscopic surgery, Biomedical Materials and Engineering, 14, 151

Dargahi, 2005, Development and three-dimensional modelling of a biological-tissue grasper tool equipped with a tactile sensor, Canadian Journal of Electrical and Computer Engineering, 30, 225, 10.1109/CJECE.2005.1541755

Peirs, 2004, A micro optical force sensor for force feedback during minimally invasive robotic surgery, Sensors and Actuators A: Physical, 115, 447, 10.1016/j.sna.2004.04.057

Shimoga, 1993, A survey of perceptual feedback issues in dexteroustelemanipulation. II. Finger touch feedback, 271

Wagner, 2002, The role of force feedback in surgery: analysis of blunt dissection, 68

Burdea, 1996

Tholey, 2005, Force feedback plays a significant role in minimally invasive surgery, Annals of Surgery, 241, 102, 10.1097/01.sla.0000149301.60553.1e

King, 2009, Tactile feedback induces reduced grasping force in robot-assisted surgery, IEEE Transactions on Haptics, 2, 103, 10.1109/TOH.2009.4

Culjat, 2008, Pneumatic balloon actuators for tactile feedback in robotic surgery, Industrial Robot: An International Journal, 35, 449, 10.1108/01439910810893617

King, 2006, A pneumatic haptic feedback actuator array for robotic surgery or simulation, Studies in Health Technology and Informatics, 125, 217

Hobson, 2004

W. Peine, Remote palpation instruments for minimally invasive surgery, PhD thesis, Division of Engineering and Applied Sciences, Harvard University, 1999.

Berman, 2002

Akbari, 2008, A novel method for artery detection in laparoscopic surgery, Surgical Endoscopy, 22, 1672, 10.1007/s00464-007-9688-8

Mehrizi, 2010, A novel method in exploration of arteries inside a tissue and assessment of the arteries by computational approach, 932

Mehrizi, 2011, A novel method of tactile assessment of arteries using computational approach, International Journal of Academic Research, 3, 1059

Mack, 2001, Minimally invasive and robotic surgery, Journal of the American Medical Association, 285, 568, 10.1001/jama.285.5.568

Novick, 2006

Afshari, 2009, Modeling and analysis of the effects of nephrolithiasis in kidney using a computational tactile sensing approach, Proceeding of World Academy of Science, Tokyo, Japan: Engineering and Technology (ICMS), 41, 378

Afshari, 2010, Evaluation of a new method for detection of kidney stone during laparoscopy using 3D conceptual modeling, International Journal of Medicine and Medical Sciences, 1, 56

Afshari, 2010, Application of artificial tactile sensing approach in kidney-stone-removal laparoscopy, Bio-Medical Materials and Engineering, 20, 261, 10.3233/BME-2010-0640

Barman, 2006, Analysis of a new combined stretch and pressure sensor for internal nodule palpation, Sensors & Actuators A: Physical, 125, 210, 10.1016/j.sna.2005.07.010

Hall, 2003, In vivo real-time freehand palpation imaging, Ultrasound in Medicine & Biology, 29, 427, 10.1016/S0301-5629(02)00733-0

Lee, 2010, Tactile sensation imaging for artificial palpation, Haptics: Generating and Perceiving Tangible Sensations, 373, 10.1007/978-3-642-14064-8_54

Ayyildiz, 2010, A novel tactile sensor for detecting lumps in breast tissue, Haptics: Generating and Perceiving Tangible Sensations, 367, 10.1007/978-3-642-14064-8_53

Schostek, 2010, Artificial tactile feedback can significantly improve tissue examination through remote palpation, Surgical Endoscopy, 24, 2299, 10.1007/s00464-010-0956-7

Roham, 2007, Design and fabrication of a new tactile probe for measuring the modulus of elasticity of soft tissues, Sensor Review, 27, 317, 10.1108/02602280710821452

Narayanan, 2006, Design and analysis of a micromachined piezoelectric sensor for measuring the viscoelastic properties of tissues in minimally invasive surgery, Smart Materials and Structures, 15, 1684, 10.1088/0964-1726/15/6/021

Helve, 2004, Imaging analysys: mammography

Bevers, 2006, Breast cancer screening and diagnosis guidelines. national comprehensive cancer network, Clinical Practice Guidelines in Oncology, 1, 1

R. Laxminarayan, J. Chow, S.A. Shahid-Salles, Intervention cost-effectiveness: overview of main messages, Disease control priorities in developing countries (2006) 35–86.

Sarvazyan, 2008, Cost-effective screening for breast cancer worldwide: current state and future directions, Breast Cancer, 1, 91

Medical Tactile Inc., suretouch product overview, http://www.suretouch.com.au/overview.htm.

Kaufman, 2006, Digital documentation of the physical examination: moving the clinical breast exam to the electronic medical record, The American Journal of Surgery, 192, 444, 10.1016/j.amjsurg.2006.06.006

Semiglazov, 2003, Results of a prospective randomized investigation to evaluate the significance of self-examination for the early detection of breast cancer, Voprosy Onkologii, 49, 434

Ohnuki, 2006, Cost-effectiveness analysis of screening modalities for breast cancer in Japan with special reference to women aged 40–49 years, Cancer Science, 97, 1242, 10.1111/j.1349-7006.2006.00296.x

Tosteson, 2008, Cost-effectiveness of digital mammography breast cancer screening, Annals of Internal Medicine, 148, 1, 10.7326/0003-4819-148-1-200801010-00002

Saslow, 2007, American cancer society guidelines for breast screening with MRI as an adjunct to mammography, CA: A Cancer Journal for Clinicians, 57, 75, 10.3322/canjclin.57.2.75

Groenewoud, 2004, Cost-effectiveness of stereotactic large-core needle biopsy for nonpalpable breast lesions compared to open-breast biopsy, British Journal of Cancer, 90, 383, 10.1038/sj.bjc.6601520

Hillner, 2004

DeMeis, 1998, Piezos step up gait analysis: treadmill force plates measure real-world patient mobility, Design News, 53, 98

Postema, 1997, Energy storage and release of prosthetic feet. Part 1. Biomechanical analysis related to user benefits, Prosthetics and Orthotics International, 21, 17, 10.3109/03093649709164526

M. Elliott, X. Ma, P. Brett, A smart sensing platform for the classification of ambulatory patterns, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 223 (5) (2009) 567–575.

Mazid, 2008, Opto-tactile sensor for surface texture pattern identification using support vector machine, 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008, 1830, 10.1109/ICARCV.2008.4795806

Kim, 2005, Texture classification using a polymer-based mems tactile sensor, Journal of Micromechanics and Microengineering, 15, 912, 10.1088/0960-1317/15/5/003

Baglio, 2002, Tactile measuring systems for the recognition of unknown surfaces, IEEE Transactions on Instrumentation and Measurement, 51, 522, 10.1109/TIM.2002.1017723

Mazid, 2006, A robotic opto-tactile sensor for assessing object surface texture, 1

Edwards, 2008, Extracting textural features from tactile sensors, Bioinspiration & Biomimetics, 3, 035002, 10.1088/1748-3182/3/3/035002

Hellard, 2002, A robust sensitive and economical tactile sensor for a robotic manipulator, 27

Sanders, 1993, Normal and shear stresses on a residual limb in a prosthetic socket during ambulation: comparison of finite element results with experimental measurements, Journal of Rehabilitation Research and Development, 30

Reiber, 1994, Who is at risk of limb loss and what to do about it?, Development, 31, 357

Gallagher, 2007, Diabetic impairments in no-mediated endothelial progenitor cell mobilization and homing are reversed by hyperoxia and sdf-1alpha, Journal of Clinical Investigation, 117, 1249, 10.1172/JCI29710

Fahey, 1991, Diabetes impairs the late inflammatory response to wound healing, Journal of Surgical Research, 50, 308, 10.1016/0022-4804(91)90196-S

Greenhalgh, 2003, Wound healing and diabetes mellitus, Clinics in Plastic Surgery, 30, 37, 10.1016/S0094-1298(02)00066-4

Beccai, 2005, Design and fabrication of a hybrid silicon three-axial force sensor for biomechanical applications, Sensors & Actuators A: Physical, 120, 370, 10.1016/j.sna.2005.01.007

Valdastri, 2005, Characterization of a novel hybrid silicon three-axial force sensor, Sensors & Actuators A: Physical, 123, 249, 10.1016/j.sna.2005.01.006

Beccai, 2002, Silicon-based three axial force sensor for prosthetic applications, 250

Bosman, 2011, Unobtrusive packaging of optoelectronic devices for optical tactile and shear sensors, 504

Petzold, 2004, A study on visual auditory and haptic feedback for assembly tasks, Presence: Teleoperators & Virtual Environments, 13, 16, 10.1162/105474604774048207

Shing, 2003, The study of auditory and haptic signals in a virtual reality-based hand rehabilitation system, Robotica, 21, 211, 10.1017/S0263574702004708

Kaczmarek, 1991, Electrotactile and vibrotactile displays for sensory substitution systems, IEEE Transactions on Biomedical Engineering, 38, 1, 10.1109/10.68204

J. Sabolich, G. Ortega, G. Schwabe IV, System and method for providing a sense of feel in a prosthetic or sensory impaired limb, US Patent 6,500,210 (2002).

Missinne, 2011, Flexible shear sensor based on embedded optoelectronic components, Photonics Technology Letters, IEEE, 23, 771, 10.1109/LPT.2011.2134844

Missinne, 2011, Ultra thin optical tactile shear sensor, Procedia Engineering, 25, 1393, 10.1016/j.proeng.2011.12.344

Antfolk, 2010, A tactile display system for hand prostheses to discriminate pressure and individual finger localization, Journal of Medical and Biological Engineering, 30, 355, 10.5405/jmbe.766

Jiang, 2006, A study on design concept for a braille tactile sensor segment using softness parameters, JSME International Journal Series C: Mechanical Systems Machine Elements and Manufacturing, 49, 480, 10.1299/jsmec.49.480

Miyata, 2006, Wearable tactile sensor system for reading braille, International Journal of Applied Electromagnetics and Mechanics, 23, 203, 10.3233/JAE-2006-738

Arabshahi, 2005, Development of a tactile sensor for braille pattern recognition: sensor design and simulation, Smart Materials and Structures, 14, 1569, 10.1088/0964-1726/14/6/050

Tanaka, 2005, Development of a tactile sensor system for reading braille: fundamental characteristics of the prototype sensor system, Smart Materials and Structures, 14, 483, 10.1088/0964-1726/14/4/004

Haber-Olguin, 2005, Braille code electronic simulator device with interactive multimedia interface, Revista Mexicana de Oftalmologia, 79, 32

Johnson, 2001, The roles and functions of cutaneous mechanoreceptors, Current Opinion in Neurobiology, 11, 455, 10.1016/S0959-4388(00)00234-8

Silverthorn, 2004

Sherwood, 2000

Hall, 2006

Howe, 1989, Sensing skin acceleration for slip and texture perception, 145

Kyung, 2005, Perceptual and biomechanical frequency response of human skin: implication for design of tactile displays, 96

Bolanowski, 1988, Four channels mediate the mechanical aspects of touch, The Journal of the Acoustical society of America, 84, 1680, 10.1121/1.397184

Johansson, 1979, Tactile sensibility in the human hand: relative and absolute densities of four types of mechanoreceptive units in glabrous skin, The Journal of Physiology, 286, 283, 10.1113/jphysiol.1979.sp012619

Verrillo, 1968, A duplex mechanism of mechanoreception, 139

Craig, 2001, A comparison of tactile spatial sensitivity on the palm and fingerpad, Perception and Psychophysics, 63, 337, 10.3758/BF03194474

Papakostas, 2002, A large area force sensor for smart skin applications

Choi, 1998, Multingered robotic hands: contact experiments using tactile sensors, 2268

R.A. Boie, G.L. Miller, Conformable tactile sensor, US Patent No. 4526043 (July 2, 1985).

Dahiya, 2007, Tactile sensing arrays for humanoid robots, 201

Dahiya, 2009, Development of fingertip tactile sensing chips for humanoid robots, 1