Title :
Contact Behavior of Soft Spherical Tactile Sensors
Author :
Youssefian, Sina ; Rahbar, Nima ; Torres-Jara, Eduardo
Author_Institution :
Mech. Eng. Dept., Worcester Polytech. Inst., Worcester, MA, USA
Abstract :
In this paper, we studied a compliant tactile sensor with a spherical shell geometry. This bioinspired sensor has been successfully tested in actual robots whose behaviors are guided by tactile feedback. A model of the sensor was developed to study the contact response of the sensor to objects with different geometries. The sensor response is the estimation of both, normal and shear forces (3-D vector). The model was validated using experimental data and used to predict the behavior of sensors with different radii. This information allows us to design sensors with different sizes according to the requirements of a given robotic application.
Keywords :
feedback; force measurement; force sensors; tactile sensors; 3D vector estimation; bioinspired sensor; contact behavior; normal force estimation; robotic application; shear force estimation; soft spherical tactile sensor; spherical shell geometry; tactile feedback; Force; Materials; Sensor phenomena and characterization; Tactile sensors; Bioinspired; contact mechanics; finite element model; soft materials; soft robotics; tactile sensor;
Journal_Title :
Sensors Journal, IEEE
DOI :
10.1109/JSEN.2013.2296208
