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Analysis and design of a modular electro-optical tactile sensor

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3 Author(s)
R. Ristic ; Dept. of Mech. Eng., Toronto Univ., Ont., Canada ; B. Benhabib ; A. A. Goldenberg

The development of an experimental tactile sensor utilizing optical fibers is analyzed. In the first stage of this research, a single-point experimental force sensor was designed and manufactured. In the single-point sensor, light from an emitting fiber is reflected from the surface of a cantilever beam into a receiving fiber, and the intensity of the light reflected is continuously measured as the beam deflects due to applied force. The experimental sensor is designed such that it allows variation in design parameters to determine the best set of parameter values for optimal performance of the sensor. In the second stage of the research the optimal design parameters obtained from the single-point sensor experiments were used to design and manufacture a four-point prototype tactile sensor. This prototype sensor makes use of electrical amplification and digital conversion which can enable the force signals to provide tactile information to the controller of a multifingered hand

Published in:

IEEE Transactions on Robotics and Automation  (Volume:5 ,  Issue: 3 )