Tactile sensors have been developed since the early '70s and have greatly improved, but there are still no widely adopted solutions. Various technologies, such as capacitive, piezoelectric, piezoresistive, optical, and magnetic, are used in haptic sensing. However, most sensors are not mechanically robust for many applications and cannot cope well with curved or sizeable surfaces. Aiming to address this problem, we present a 3D printed fingerprint pattern to enhance the body-borne vibration signal for dynamic tactile feedback. The 3D printed fingerprint patterns were designed and tested for an RH8D Adult size Robot Hand. The patterns significantly increased the signal's power to over 11 times the baseline. A public haptic dataset including 52 objects of several materials was created using the best fingerprint pattern and material.

翻译：自20世纪70年代初以来，触觉传感器虽已取得长足发展，但仍未出现广泛采用的解决方案。目前触觉传感技术涵盖电容式、压电式、压阻式、光学式和磁式等多种类型。然而，多数传感器在机械鲁棒性方面难以满足实际应用需求，且无法有效适应曲面或大尺寸表面。针对这一问题，我们提出一种3D打印指纹图案，用于增强体载振动信号以实现动态触觉反馈。针对RH8D成人尺寸机械手设计并测试了多种3D打印指纹图案，实验表明该图案能将信号功率提升至基准值的11倍以上。基于最优指纹图案与材料，我们构建了包含52种不同材质物体的公开触觉数据集。