Detection of ultrasound pressure distribution for remote measurement of haptic surface roughness

This paper proposes a new remote measurement method of surface roughness for haptic applications. In our method, measurement object surface is irradiated with a coherent ultrasound from a remote point. A spatial sound pressure distribution that is formed by reflected waves varies depending on the surface geometry. We can evaluate the surface profile by measuring the sound pressure distribution. We conducted fundamental experiments and could show the effectiveness of our manner.