Development of human-fingertip-sized three-axis tactile sensor based on image data processing
In order to increase the versatility of multi-fingered humanoid robot hands, we designed a human-finger-sized three-axis tactile sensor using a simple structure. Since we adopted a feeler-less structure for miniaturization, we acquired the three-axis tactile data via image data processing. With this...
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Main Authors: | , , , |
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Format: | Conference or Workshop Item |
Published: |
IEEE Computer Society
2016
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Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/73358/ https://www.scopus.com/inward/record.uri?eid=2-s2.0-84964888658&doi=10.1109%2fICSensT.2015.7438392&partnerID=40&md5=fb9ad0baf0baf3a76db9ef96ad013cf4 |
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Summary: | In order to increase the versatility of multi-fingered humanoid robot hands, we designed a human-finger-sized three-axis tactile sensor using a simple structure. Since we adopted a feeler-less structure for miniaturization, we acquired the three-axis tactile data via image data processing. With this sensor design, we solved the intrinsic problem of the ordinal three-axis tactile sensor's insensible zone. In a series of verification experiments, the sensor measured variation in normal force in the range of 0 to 2.5 N; furthermore, it detected variation in tangential force in the range of 0 to 0.25 N under 1.5-N normal force. |
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