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.
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Abstract
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.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | Human fingertip size, Image data processing, Non insensible region, Non-feeler structure, Tactile sensor, Three-axis, Verification test |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Mechanical Engineering |
| ID Code: | 73358 |
| Deposited By: | Mohd Zulaihi Zainudin |
| Deposited On: | 21 Nov 2017 03:28 |
| Last Modified: | 21 Nov 2017 03:28 |
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