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A three-axis optical tactile sensor (FEM contact analyses and sensing experiments using a large-sized tactile sensor)

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5 Author(s)
Ohka, M. ; Dept. of Mech. Eng., Shizuoka Univ., Japan ; Mitsuya, Y. ; Takeuchi, S. ; Ishihara, H.
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This paper describes a new three-axis tactile sensor equipped with an optical waveguide plate mounted on a robot manipulator. After a series of FEM contact analyses and evaluation experiments were conducted, an experimental large-sized tactile sensor intended for employment in evaluation experiments was designed and produced. The experimental results confirmed that the tactile sensor is capable of detecting the distribution of three-axis force and that the calculated and experimental results coincide well. On the basis of these results, a smaller tactile sensor mounted on a robot manipulator was designed and produced. This tactile sensor comprises a CCD camera, a light source, an acrylic board and a silicon rubber sheet that are assembled into a casing 180 mm long, 80 mm wide and 50 mm thick

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:1 )

Date of Conference:

21-27 May 1995