GelForce: a vision-based traction field computer interface

We propose a tactile sensor based on computer vision that measures a dense traction field, or a distribution of 3D force vectors over a 2D surface, which humans also effectively sense through a dense array of mechanoreceptors in the skin. The proposed "GelForce" tactile sensor has an elegant and organic design and can compute large and structurally rich traction fields in real time. We present how this sensor can serve as a powerful and intuitive computer interface for both existing and emerging desktop applications.