F-TOUCH Sensor: Concurrent Geometry Perception and Multi-Axis Force Measurement

Force and tactile sensing has experienced a surge of interest over recent decades. It conveys range information through physical interaction, including force, pressure, texture vibration. Even so, existing sensors have difficulty in precisely acquiring force signals to capture magnitude direction. This is because vision-based sensors, such as the popular GelSight sensor, estimate torque from discrete markers embedded compliant sensor interface detected via image processing, resulting errors that are sizeable. paper presents novel design for force/tactile namely F-TOUCH (Force Tactile Optically Unified Coherent Haptics), signifies an appreciable advance on current state-of-the-art sensors. In addition acquisition geometric features (silicone) elastomeric component at high spatial resolution, our incorporates deformable spring-mechanism structure, allowing us measure translational rotational along six axes with accuracy. The proposed contains three principal components: coated elastomer layer acting medium, spring mechanisms structural elements, camera capture. records deformation elements well distortion concurrently information. calibrated aid commercial ATI Industrial Automation ® 6-axis force/torque sensor. An experimental study reveals outperforms