An Experimental Optical Three-Axis Tactile Sensor Featured with Hemispherical Surface
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- OHKA Masahiro
- Graduate School of Information Science, Nagoya University
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- KOBAYASHI Hiroaki
- (株) 豊田自動織機
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- TAKATA Jumpei
- オリンパス (株)
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- MITSUYA Yasunaga
- 名古屋産業科学研究所
Bibliographic Information
- Other Title
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- 半球形光学式三軸触覚センサの開発
- ハンキュウケイ コウガクシキ 3ジク ショッカク センサ ノ カイハツ
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Abstract
We are developing an optical three-axis tactile sensor capable of acquiring normal and shearing force, with the aim of mounting it on a robotic finger. The tactile sensor is based on the principle of an optical waveguide-type tactile sensor, which is composed of an acrylic hemispherical dome, a light source, an array of rubber sensing elements, and a CCD camera. The sensing element of silicone rubber comprises one columnar feeler and eight conical feelers. The contact areas of the conical feelers, which maintain contact with the acrylic dome, detect the three-axis force applied to the tip of the sensing element. Normal and shearing forces are then calculated from integration and centroid displacement of the gray-scale value derived from the conical feeler's contacts. To evaluate the present tactile sensor, we have conducted a series of experiments using a y-z stage, a rotational stage, and a force gauge, and have found that although the relationship between the integrated gray-scale value and normal force depends on the sensor's latitude on the hemispherical surface, it is easy to modify the sensitivity according to the latitude, and that the centroid displacement of the gray-scale value is proportional to the shearing force. When we examined repeatability of the present tactile sensor with 1 000 loading-unloading cycles, the respective error of the normal forces was 2%.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 74 (742), 1477-1484, 2008
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390282681364364416
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- NII Article ID
- 110006793585
- 130004236701
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 9560502
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed