Development of Haptic Sensor for Health Care Applications

This graphical abstract showcases a novel dual-layer haptic sensor using frustrated total internal reflection (FTIR) imaging. The design integrates a solid sensing layer that captures contact force distribution and a flexible probe layer that enables 3D surface geometry reconstruction. By combining data from both layers through contact mechanics models, the sensor quantifies tissue viscoelasticity while simultaneously mapping 3D geometry with high spatial resolution. Experimental validation demonstrates elastic modulus measurement with 4.88% error, making this technology particularly valuable for healthcare applications such as tumor diagnosis where both material properties and surface characteristics are clinically significant.