6DoF Touch Print & Force Reconstruction Using Surface-Embedded Force Sensors

An object may rest on top of a sensor structure. Multiple 3-axis load sensors may be embedded in the sensor structure, and may take measurements of a force created by a human user touching the object. The direction of the force may fluctuate slightly, due to tiny shaking movements of the user's hand or finger while the hand or finger touches the object. These tiny shaking movements may occur even in a normal, healthy person. Based on these measurements of fluctuating force that are taken by the load sensors, a computer may calculate three-dimensional spatial coordinates of a point at which the user is touching the object.