A Tactile Sensing Concept for 3D Displacement and 3D Force Measurement using Light Angle and Intensity Sensing

This paper proposes an optical-based tactile sensor design concept, which uses a light angle and intensity to infer force displacement from deformations of silicone pillar. The proposed simple, low-cost fabrication method with overall small-scale form factor. can measure 3D displacement, force, vibration. estimation error (mean ± SD) in the X, Y, Z axes was -10.8 52.1 μm, 15.4 66.5 μm 1.8 17.6 respectively, over full-scale lateral 1 mm radius X Y 2.2 compression Z. -8.5 47.6 mN, 49.0 mN -28.0 92.6 for approximately 2 N or 6 Sensitivity vibrations range 10-950 Hz also evaluated showing good sensitivity this entire range. new sensing approach could be benefit robotic manipulation applications, as it easily arrayed and/or integrated into fingers gripper sense slip events load grip forces torques.