A three-axis optical tactile sensor (FEM contact analyses and sensing experiments using a large-sized tactile sensor)

This paper describes a new three-axis tactile sensor equipped with an optical waveguide plate mounted on a robot manipulator. After a series of FEM contact analyses and evaluation experiments were conducted, an experimental large-sized tactile sensor intended for employment in evaluation experiments was designed and produced. The experimental results confirmed that the tactile sensor is capable of detecting the distribution of three-axis force and that the calculated and experimental results coincide well. On the basis of these results, a smaller tactile sensor mounted on a robot manipulator was designed and produced. This tactile sensor comprises a CCD camera, a light source, an acrylic board and a silicon rubber sheet that are assembled into a casing 180 mm long, 80 mm wide and 50 mm thick