Tactile sensing in an object passing task

This paper investigates the tactile signals involved during an object passing task as performed by human subjects. Using various sensors, we analyzed the forces and accelerations involved during the transfer of an object from one hand to another. We determined the normal forces, shear forces and accelerations that were occurring during the transfer phase of the object. Such analysis could be useful for a prosthetic or humanoid robotic hand that could perform object transfers in a more natural manner.