Tactile Slippage Analysis in Optical Three-Axis Tactile Sensor for Robotic Hand

Optical Three-axis Tactile Sensor for Robotic Fingers

Tactile sensors capable of sensing normal and shearing force produced on a robotic finger and an object are useful for fitting a dextrose hand that can be applied to tasks that require human-like handling. Examples include such manufacturing tasks as assembly, disassembly, inspection, and materials handing. Especially in the case of humanoid robots, grasping slippery or flexible objects is requ...

Sensorization of Robotic Hand Using Optical Three-Axis Tactile Sensor: Evaluation with Grasping and Twisting Motions

Problem statement: Sensitization of robot hand is still remaining as crucial issue since most of robot hand systems nowadays are only capable to grasp a predefined specific object. It is still difficult for robot hand system to realize human-like tactile sensation. Some common problems in robot hand system are low accuracy sensing device, sensors are not robust enough for long time work and hea...

Three-axis Tactile Sensor

An Experimental Optical Three-axis Tactile Sensor for Micro-Robots

This paper describes a micro-optical three-axis tactile sensor capable of sensing not only normal force, but also shearing force. The normal force was detected from the integrated gray-scale values of bright pixels emitted from the contact area of conical feelers. The conical feelers were formed on a rubber sheet surface that maintains contact with an optical waveguide plate. The shearing force...

Measurement Principles of Optical Three-Axis Tactile Sensor and its Application to Robotic Fingers System

A tactile sensor is a device that can measure a given property of an object or contact event through physical contact between the sensor and the object. Traditionally, tactile sensors have been developed using measurements of strain produced in sensing materials that are detected using physical quantities such as electric resistance and capacity, magnetic intensity, voltage and light intensity ...