Contact force is a natural way for humans to interact with the physical world around us. However, most of our interactions with the digital world are largely based on a simple binary sense of touch (contact or no contact). Similarly, when interacting with robots to perform complex tasks, such as surgery, we need to acquire the rich force information and contact location , to aid in the task . To address these issues , we present the design and fabrication of Wi-Chlorian, which is a 'wireless' sensors that can be attached to an object or robot, like a sticker. Wi-Chlorian's sensor transduces force magnitude and location into phase changes of an incident RF signal , which is reflected back to enable measurement of force  and contact location . Wi-Chlorian 's sensor is designed to support wide-band frequencies all the way up to 3GHz . We evaluate the force sensing wirelessly in different environments, including in-body like , and achieve force ac-curacy of 0.3 N and contact location accuracy of 0.6 mm.
Contact force is a natural way for humans to interact with the physical world around us. However, most of our interactions with the digital world are largely based on a simple binary sense of touch (contact or no contact). Similarly, when interacting with robots to perform complex tasks, such as surgery, richer force information that includes both magnitude and contact location is important for task performance . To address these challenges , we present the design and fabrication of WiForce which is a 'wireless' sensor, sentient to contact force magnitude and location. WiForce achieves this by transducing force magnitude and location , to phase changes of an incident RF signal of a backscattering tag. The phase changes are thus modulated into the backscattered RF signal, which enables measurement of force magnitude and contact location by inferring the phases of the reflected RF signal. WiForce 's sensor is designed to support wide-band frequencies all the way up to 3 GHz . We evaluate the force sensing wirelessly in different environments, including through phantom tissue , and achieve force accuracy of 0.3 N and contact location accuracy of 0.6 mm.
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we need to acquire the rich force information
richer force information that includes both magnitude
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, to aid in the task
is important for task performance
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issues
challenges
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Wi-Chlorian,
WiForce
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sensors that can be attached to an object or robot, like a sticker. Wi-Chlorian's sensor transduces
sensor, sentient to contact force magnitude and location. WiForce achieves this by transducing
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into
, to
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, which is reflected back to enable
of a backscattering tag. The phase changes are thus modulated into the backscattered RF signal, which enables
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magnitude
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. Wi-Chlorian
by inferring the phases of the reflected RF signal. WiForce
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3GHz
3 GHz
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in-body like
through phantom tissue
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ac-curacy
accuracy