Task-driven PCA-based design optimization of wearable cutaneous devices - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2018

Task-driven PCA-based design optimization of wearable cutaneous devices


Small size and low weight are critical requirements for wearable and portable haptic interfaces, making it essential to work toward the optimization of their sensing and actuation systems. This paper presents a new approach for task-driven design optimization of fingertip cutaneous haptic devices. Given one (or more) target tactile interactions to render and a cutaneous device to optimize, we evaluate the minimum number and best configuration of the device's actuators to minimize the estimated haptic rendering error. First, we calculate the motion needed for the original cutaneous device to render the considered target interaction. Then, we run a principal component analysis (PCA) to search for possible couplings between the original motor inputs, looking also for the best way to reconfigure them. If some couplings exist, we can redesign our cutaneous device with fewer motors, optimally configured to render the target tactile sensation. The proposed approach is quite general and can be applied to different tactile sensors and cutaneous devices. We validated it using a BioTac tactile sensor and custom plate-based 3-DoF and 6-DoF fingertip cutaneous devices, considering six representative target tactile interactions. The algorithm was able to find couplings between each device's motor inputs, proving it to be a viable approach to optimize the design of wearable and portable cutaneous devices. Finally, we present two examples of optimized designs for our 3-DoF fingertip cutaneous device.
Fichier principal
Vignette du fichier
2018_ral_pacchierotti.pdf (1.31 Mo) Télécharger le fichier
DataCollection-RAL18-Pacchierotti.zip (5.95 Mo) Télécharger le fichier
video-RAL18-Pacchierotti.mp4 (8.5 Mo) Télécharger le fichier
Origin Files produced by the author(s)
Format Other
Comment Collected data during the data collection process carried out with out 3-DoF cutaneous device.
Format Video

Dates and versions

hal-01717652 , version 1 (26-02-2018)



Claudio Pacchierotti, Eric M Young, Katherine J Kuchenbecker. Task-driven PCA-based design optimization of wearable cutaneous devices. IEEE Robotics and Automation Letters, 2018, 3 (3), pp.2214-2221. ⟨10.1109/LRA.2018.2810953⟩. ⟨hal-01717652⟩
583 View
225 Download



Gmail Mastodon Facebook X LinkedIn More