Fingertip-shaped optical tactile sensor for robotic applicationsProgress is described regarding the development of a high-density, fiber-optic, fingertip-shaped tactile sensor specifically designed for application to dexterous robotics. The sensor operates on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and generates a grey-scale tactile image that represents the normal forces of contact. The sensor contains 256 taxels (sensing sites) distributed in a dual-density pattern that includes a tactile fovea near the tip which measures 13 mm x 13 mm and contains 169 taxels. The details regarding the design and construction of this tactile sensor are presented, in addition to photographs of tactile imprints.
Document ID
19890024692
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Begej, Stefan (Begej Corp. Littleton, CO, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Mechanical Engineering
Meeting Information
Meeting: 1988 IEEE International Conference on Robotics and Automation