Title :
Acoustic resonant tensor cell for tactile sensing
Author :
Shinoda, Hiroyuki ; Matsumoto, Kenichi ; Ando, Shigeru
Author_Institution :
Dept. of Electron. & Inf. Eng., Tokyo Univ. of Agric. & Technol., Japan
Abstract :
In this paper we propose a new tactile sensing element, acoustic resonant tensor cell. The structure has only a spherical cavity in an elastic tactile sensor body with two fine ultrasound paths extended respectively to an ultrasound transmitter and receiver which are placed at the bottom of the elastomer. The acoustic resonant frequency of the air in the cavity has an explicit relation with the principal stresses around it, which is easily detected by the ultrasound transducers. The sensor is simple and elastic. The single structure presents useful tactile features of multidimensions. The principle and experimental results are described
Keywords :
acoustic resonators; tactile sensors; ultrasonic transducers; acoustic resonant tensor cell; spherical cavity; tactile sensor; ultrasonic receiver; ultrasonic transducers; ultrasonic transmitter; ultrasound paths; Acoustic sensors; Acoustic signal detection; Acoustic transducers; Resonance; Resonant frequency; Tactile sensors; Tensile stress; Transmitters; Ultrasonic imaging; Ultrasonic transducers;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606757