Title :
A high resolution and high compliance tactile sensing system for robotic manipulations
Author :
Jiar, Yunde ; Lee, Kejie ; Shi, Genchen
Author_Institution :
Dept. of Mech. & Eng., Beijing Inst. of Technol., China
Abstract :
A tactile sensor with both very high resolution and high compliance is presented. The sensor utilizes the properties of optical reflection and mechanical compliance of clear rubber, and has a compact structure. A gripper with two tactile sensors linked to a tactile image processing system has been designed. It can be used to acquire binary tactile image sequences. The contact shape recovery and the gripping force estimate, based on the image sequences, are also discussed
Keywords :
tactile sensors; binary tactile image sequences; clear rubber; compact structure; contact shape recovery; gripper; gripping force estimate; mechanical compliance; optical reflection; resolution; robotic manipulations; tactile image processing system; tactile sensor; Grippers; Image processing; Image sequences; Mechanical factors; Mechanical sensors; Optical reflection; Optical sensors; Rubber; Shape; Tactile sensors;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583279
