By Topic

Vision-Based Tactile Sensing and Shape Estimation Using a Fluid-Type Touchpad

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
$33 $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

4 Author(s)
Yuji Ito ; Graduate School of Engineering, Nagoya University, Nagoya, Japan ; Youngwoo Kim ; Chikara Nagai ; Goro Obinata

In this paper, we propose a new method to estimate the shape and irregularity of objects by a vision-based tactile sensor, which consists of a CCD camera, LED lights, transparent acrylic plate, and a touchpad which consists of an elastic membrane filled with translucent red water. Intensities of red, green and blue bands of the traveling light in the touchpad are analyzed in this study to estimate the shape/irregularity of the object. The LED light traveling in the touchpad is scattered and absorbed by the red pigment in the fluid. The depth of the touchpad is estimated by using the intensity of the light obtained from the red-green-blue (RGB) values of the image, in consideration of the scattering and reflection effects. The reflection coefficient that depends on the shape of the membrane, was decoupled in the proposed formulation. The intensity of the traveling light is represented with the geometrical parameters of the touchpad surface. In order to reduce the approximation error caused by unmodeled factors, we compensate the error by using a function of the deformation of the membrane. The validation of the proposed method is confirmed through experimental results.

Published in:

IEEE Transactions on Automation Science and Engineering  (Volume:9 ,  Issue: 4 )