Development of human-fingertip-sized three-axis tactile sensor based on image data processing

In order to increase the versatility of multi-fingered humanoid robot hands, we designed a human-finger-sized three-axis tactile sensor using a simple structure. Since we adopted a feeler-less structure for miniaturization, we acquired the three-axis tactile data via image data processing. With this sensor design, we solved the intrinsic problem of the ordinal three-axis tactile sensor´s insensible zone. In a series of verification experiments, the sensor measured variation in normal force in the range of 0 to 2.5 N; furthermore, it detected variation in tangential force in the range of 0 to 0.25 N under 1.5-N normal force.