By Topic

Three-dimensional tactile sensor with thin and soft elastic body

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hoshino, K. ; Grad. Sch. of Syst. & Inf. Eng., Univ. of Tsukuba, Tsukuba ; Daisuke Mori

When a humanoid robot hand generates a dexterous motion or adaptive behavior, a three-dimensional tactile sensor is indispensable which is as thin and soft as human skin. This study proposed a three-dimensional tactile sensor which enables to use a thin and soft elastic body without requiring any such processing as drawing of pattern on the surface or injection of pigment, etc., in the belief that this would enable to produce a wide dynamic range and a high resolution. We manufactured an optical type pressure sensor capable of irradiating a light in parallel to an elastic body, in such a way that the contour line may indicate the shape of the object material and, with the position of incidence of this light as clue, estimating the ldquocontact position of the object material,rdquo ldquomagnitude of the force,rdquo and ldquoangle of incidence of the force.rdquo The estimation experiment showed that the output of the tactile sensor exhibits the same accuracy as that of a conventional ldquohard and heavyrdquo sensor.

Published in:

Advanced robotics and Its Social Impacts, 2008. ARSO 2008. IEEE Workshop on

Date of Conference:

23-25 Aug. 2008