  Tactile sensors have been developed since the early '70s and have greatly
improved, but there are still no widely adopted solutions. Various
technologies, such as capacitive, piezoelectric, piezoresistive, optical, and
magnetic, are used in haptic sensing. However, most sensors are not
mechanically robust for many applications and cannot cope well with curved or
sizeable surfaces. Aiming to address this problem, we present a 3D-printed
fingerprint pattern to enhance the body-borne vibration signal for dynamic
tactile feedback. The 3D-printed fingerprint patterns were designed and tested
for an RH8D Adult size Robot Hand. The patterns significantly increased the
signal's power to over 11 times the baseline. A public haptic dataset including
52 objects of several materials was created using the best fingerprint pattern
and material.
