Sensing Characteristics of an Optical Three-Axis Tactile Sensor Under Combined Loading.

Sensing characteristics of an optical three-axis tactile sensor under combined loading

This paper describes precision enhancement of an optical three-axis tactile sensor capable of detecting both normal force and tangential force. The sensor’s single cell consists of a columnar feeler and 2-by-2 conical feelers. We have derived equations to precisely estimate the three-axis force from the area-sum and area-difference of the conical feelers’ contact areas by taking into account wr...

An Experimental Optical Three-axis Tactile Sensor for Micro-Robots

This paper describes a micro-optical three-axis tactile sensor capable of sensing not only normal force, but also shearing force. The normal force was detected from the integrated gray-scale values of bright pixels emitted from the contact area of conical feelers. The conical feelers were formed on a rubber sheet surface that maintains contact with an optical waveguide plate. The shearing force...

Three-axis Tactile Sensor

Optical Three-axis Tactile Sensor for Robotic Fingers

Tactile sensors capable of sensing normal and shearing force produced on a robotic finger and an object are useful for fitting a dextrose hand that can be applied to tasks that require human-like handling. Examples include such manufacturing tasks as assembly, disassembly, inspection, and materials handing. Especially in the case of humanoid robots, grasping slippery or flexible objects is requ...

Sensing Characteristics of an Experimental CT Tactile Sensor

The CT (Computed tomography) method is very effective for making thinner optical waveguide-type tactile sensors. In a previous paper, the authors established the architecture of a CT tactile sensor and evaluated its principle using a series of computer simulations. As a result, the LU decomposition method showed better noise robustness compared to the ART method. On the basis of the simulations...