Title :
A tactile sensing algorithm based on elastic transfer function of surface deformation
Author :
Shinoda, Hiroyuki ; Ando, Shigeru
Author_Institution :
Eng. Res. Inst., Tokyo Univ., Japan
Abstract :
A new tactile sensing algorithm based on the elastic transfer function of surface deformation is proposed. Utilizing the inherent mechanism of an elastic body, it is shown that only a pair of vertically separated pressure probes can determine a single dominant spatial frequency of a fixed surface being touched, and also an arbitrary spatial spectrum of a moving surface profile without knowing its speed. Theory of vertical sampling in the elastic body is presented. Several experimental results utilizing a pair of pressure probes embedded in a silicone rubber sensor tip are shown
Keywords :
elastic deformation; pressure sensors; tactile sensors; transfer functions; arbitrary spatial spectrum; elastic transfer function; fixed surface; moving surface; silicone rubber sensor tip; single dominant spatial frequency; surface deformation; tactile sensing algorithm; vertical sampling; vertically separated pressure probes; Frequency; Humans; Optical arrays; Optical sensors; Probes; Rough surfaces; Sensor arrays; Surface texture; Tactile sensors; Transfer functions;
Conference_Titel :
Acoustics, Speech, and Signal Processing, 1992. ICASSP-92., 1992 IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-0532-9
DOI :
10.1109/ICASSP.1992.226144
