A combined tactile and proximity sensing employing a compound-eye camera

Shimonomura, Kazuhiro; Nakashima, Hiroto

doi:10.1109/icsens.2013.6688497

Cited by 12 publications

(4 citation statements)

References 3 publications

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“…Using infrared light as the illumination light makes it possible to separate the incident light to the camera into the visible light from outside the light conductive plate and the infrared light occurring by contact with the wavelength (λ in Equation (3)). The combined contact and proximity sensor in [25,50,51] uses this method for contact detection. Moreover, this method to detect contact using the light conductive plate has been used for multi-touch detection sensors in the field of human–computer interfaces [52,53].…”

Section: Physical Contact To Light Conversionmentioning

confidence: 99%

Tactile Image Sensors Employing Camera: A Review

Shimonomura

2019

Sensors

Self Cite

128

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A tactile image sensor employing a camera is capable of obtaining rich tactile information through image sequences with high spatial resolution. There have been many studies on the tactile image sensors from more than 30 years ago, and, recently, they have been applied in the field of robotics. Tactile image sensors can be classified into three typical categories according to the method of conversion from physical contact to light signals: Light conductive plate-based, marker displacement- based, and reflective membrane-based sensors. Other important elements of the sensor, such as the optical system, image sensor, and post-image analysis algorithm, have been developed. In this work, the literature is surveyed, and an overview of tactile image sensors employing a camera is provided with a focus on the sensing principle, typical design, and variation in the sensor configuration.

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Section: Physical Contact To Light Conversionmentioning

confidence: 99%

Tactile Image Sensors Employing Camera: A Review

Shimonomura

2019

Sensors

Self Cite

128

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“…There was another type of vision‐based tactile sensor with a compound‐eye camera consisting of an array of lenses and an imager. [ 132 ] Both tactile and proximity information could be obtained at high spatial resolution, which was essential for grasping control of a robot hand. [ 95 ] To be specific, the tactile information was obtained as infrared images through a light conductive plate.…”

Section: Principles and Structures Of Tactile Sensors For Soft Grippersmentioning

confidence: 99%

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

Qu,

Mao,

et al. 2023

Adv Funct Materials

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Tactile sensing technology is crucial for soft grippers. Soft grippers equipped with intelligent tactile sensing systems based on various sensors can interact safely with the unstructured environments and obtain precise properties of objects (e.g., size and shape). It is essential to develop state‐of‐the‐art sensing technologies for soft grippers to handle different grasping tasks. In this review, the development of tactile sensing techniques for robotic hands is first introduced. Then, the principles and structures of different types of sensors normally adopted in soft grippers, including capacitive tactile sensors, piezoresistive tactile sensors, piezoelectric tactile sensors, fiber Bragg grating (FBG) sensors, vision‐based tactile sensors, triboelectric tactile sensors, and other advanced sensors developed recently are briefly presented. Furthermore, sensing modalities and methodologies for soft grippers are also described in aspects of force measurement, perception of object properties, slip detection, and fusion of perception. The application scenarios of soft grippers are also summarized based on these advanced sensing technologies. Finally, the challenges of tactile sensing technologies for soft grippers that need to be tackled are discussed and perspectives in addressing these challenges are pointed out.

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“…[ 25–27 ] Proximity sensing has often been introduced using cameras or ultrasound, although a variety of methods exist. [ 28–32 ] However, the single focal point of a camera limits depth perception, making it difficult to understand the environment very near to a robotic gripper. [ 21 ] On the other hand, ultrasonic proximity sensors are effective with wide‐range proximity sensing, but are limited by their high power consumption.…”

Section: Introductionmentioning

confidence: 99%

Flexible Fringe Effect Capacitive Sensors with Simultaneous High‐Performance Contact and Non‐Contact Sensing Capabilities

et al. 2020

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To mimic human touch sensing, robotics must be able to leverage multiple sensory inputs. Previously, to achieve both proximity and pressure sensing, most approaches have required using two separate sensors, each with their corresponding electronics, limiting the achievable density. More recently, sensors with multifunctional pressure and proximity capabilities have been realized at the cost of compromised pressure sensing. Presented here is a new design for a multifunctional interdigitated fringe field capacitive pressure sensor with a pyramid microstructured dielectric layer that has proximity‐sensing capabilities (noncontact mode) while also sensing pressure (contact mode) as strongly as an equivalent parallel plate capacitive sensor of the same size. In contact mode, both sensors have a response time of less than 20 ms and can respond to loads lighter than 0.5 Pa. Further, the interdigitated fringe field sensor can clearly distinguish between the two sensing modes, as well as between conductive and nonconductive materials in the noncontact mode. Finally, we use the interdigitated fringe field sensor to demonstrate both proximity and high‐sensitivity pressure sensing on a robotic gripper.

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A combined tactile and proximity sensing employing a compound-eye camera

Cited by 12 publications

References 3 publications

Tactile Image Sensors Employing Camera: A Review

Tactile Image Sensors Employing Camera: A Review

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

Flexible Fringe Effect Capacitive Sensors with Simultaneous High‐Performance Contact and Non‐Contact Sensing Capabilities

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