Development of an Optical Sensor Capable of Measuring Distance, Tilt, and Contact Force

Depth, proximity, and tactile sensors are often used in robotic object manipulation. The three types of combined to address each sensor limitation: Depth use is limited by blind spots measurable range, proximity millimetric distances, the requires direct contact with object. Here we present a novel that can simultaneously measure distance surface tilt, as well force. We demonstrated advantage this during task. There, implemented an admittance control succeeded achieving smooth transition from zero- infinite-impedance condition vice-versa. This affords realization advanced interactions between robot objects contrary previous approaches—limited distance, spots, impact force initial contact—demonstrated good performance at all times continuous measurements contact.