Development of a Minimally Invasive High-Resolution Tactile Sensor For Acquiring Delicate Haptic Changes in Hair

In this paper, we report a newly developed minimally invasive high-resolution tactile sensor. Through design optimization, the sensor's performance was improved by reducing the amount of needle contactor protrusion and increasing the robustness of the reference plane. In addition, these improvements reduce the sensor load on the measurement target. As a result, we have succeeded in acquiring the subtle differences in haptic sensation derived from the surface structure of hair.