Preprint Open access
LUMO: Designing Luminous Contact Morphology for Repeatable Whole-Finger Contact Observation
A low-impedance robot finger reports through joint torque how strongly it is loaded, but the same torque can arise from a small force near the fingertip or a large force near the joint. Resolving the force therefore requires knowing where along the finger contact occurred. LUMO makes that location externally observable …