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A tactile sensor using three-dimensional structure

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3 Author(s)
Shinoda, H. ; Fac. of Eng., Tokyo Univ., Japan ; Uehara, M. ; Ando, S.

A tactile sensor for artificial fingertips utilizing a 3-D structured elastic body combined with vertical sampling pressure probes as a built-in feature extraction unit is proposed. The sensor uses orthogonally arranged vertical sampling probes and variable contact, realized by a flexible spherical surface. Using this architecture, three algorithms are proposed for the sensing surface texture, 2-D rubbing velocity, and deepness of contact, respectively. The architecture and the algorithms are examined in several experiments using a scaled-up model of the sensor

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993