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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IEEE Computer Society
2016
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my.utm.733582017-11-21T03:28:07Z http://eprints.utm.my/id/eprint/73358/ Development of human-fingertip-sized three-axis tactile sensor based on image data processing Ohka, M. Nomura, R. Yussof, H. Zahari, N. I. TJ Mechanical engineering and machinery 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. IEEE Computer Society 2016 Conference or Workshop Item PeerReviewed Ohka, M. and Nomura, R. and Yussof, H. and Zahari, N. I. (2016) Development of human-fingertip-sized three-axis tactile sensor based on image data processing. In: 9th International Conference on Sensing Technology, ICST 2015, 8-11 Dec 2015, Auckland, New Zealand. 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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TJ Mechanical engineering and machinery Ohka, M. Nomura, R. Yussof, H. Zahari, N. I. Development of human-fingertip-sized three-axis tactile sensor based on image data processing |
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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. |
format |
Conference or Workshop Item |
author |
Ohka, M. Nomura, R. Yussof, H. Zahari, N. I. |
author_facet |
Ohka, M. Nomura, R. Yussof, H. Zahari, N. I. |
author_sort |
Ohka, M. |
title |
Development of human-fingertip-sized three-axis tactile sensor based on image data processing |
title_short |
Development of human-fingertip-sized three-axis tactile sensor based on image data processing |
title_full |
Development of human-fingertip-sized three-axis tactile sensor based on image data processing |
title_fullStr |
Development of human-fingertip-sized three-axis tactile sensor based on image data processing |
title_full_unstemmed |
Development of human-fingertip-sized three-axis tactile sensor based on image data processing |
title_sort |
development of human-fingertip-sized three-axis tactile sensor based on image data processing |
publisher |
IEEE Computer Society |
publishDate |
2016 |
url |
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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1643656640773226496 |
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13.18916 |