Development of human-fingertip-sized three-axis tactile sensor based on image data processing

• Main Authors: Ohka, M., Nomura, R., Yussof, H., Zahari, N. I.
• Format: Conference or Workshop Item
• Published: IEEE Computer Society 2016
• Subjects: TJ Mechanical engineering and machinery
• 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

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.