A Micro Optical Three-Axis Tactile Sensor (Validation of Sensing Principle Using Models)

Ohka, Masahiro; Higashioka, Isamu; Mitsuya, Yasunaga

doi:10.1142/9789812815910_0023

Cited by 6 publications

(7 citation statements)

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“…Consequently, u x − F x is expressed by Eqs. (10) to (12). Regarding sensitivities of the low-and high-load regions β x and K x , β x is 25 times higher than K x .…”

Section: V3 Combined Loading Test Of Normal and Shearing Forcementioning

confidence: 91%

“…In order to evaluate Eqs. (10) to (12), after applying the initial normal force of F z = 2.2, 4.4, 6.5, 8.7, 10.9 mN onto the sensing surface, F x was increased in a stepwise manner from 0 to 10 mN while maintaining a constant normal force. Upon each increase in force, the centroid of gray-scale values within the aforementioned sub-window was calculated and the displacement of the centroid from the initial position was called u x .…”

Section: V3 Combined Loading Test Of Normal and Shearing Forcementioning

confidence: 99%

“…The principle was validated using a large, experimental tactile sensor. 12 In the algorithm, an array of conical feelers is adopted as the texture of the rubber sheet. If combined normal and shearing forces are applied to the sensing surface, the conical feelers make contact with the acrylic board and are subjected to compressive and shearing deformation.…”

Section: Introductionmentioning

confidence: 99%

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An Experimental Optical Three-axis Tactile Sensor for Micro-Robots

et al. 2005

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This paper describes a micro-optical three-axis tactile sensor capable of sensing not only normal force, but also shearing force. The normal force was detected from the integrated gray-scale values of bright pixels emitted from the contact area of conical feelers. The conical feelers were formed on a rubber sheet surface that maintains contact with an optical waveguide plate. The shearing force was detected from horizontal displacement of the conical feeler. In the experiments, a precise multi-axial loading machine was developed to measure sensing characteristics of the present sensor. Results show that the normal force was specified uniquely under combined force conditions and that the shearing force was specified by modifying the relationship between the shearing force and the horizontal displacement on the basis of normal force. We formulated a set of expressions to derive the normal force and the shearing force by taking into account this modification. Furthermore, calibration coefficients were identified for transforming the integration of gray-scale values into the normal force and for transforming the horizontal displacement into the shearing force. This result suggests that the expressions can estimate the normal force and the shearing force in wide-load regions.

show abstract

“…Consequently, u x − F x is expressed by Eqs. (10) to (12). Regarding sensitivities of the low-and high-load regions β x and K x , β x is 25 times higher than K x .…”

Section: V3 Combined Loading Test Of Normal and Shearing Forcementioning

confidence: 91%

Section: V3 Combined Loading Test Of Normal and Shearing Forcementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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An Experimental Optical Three-axis Tactile Sensor for Micro-Robots

et al. 2005

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“…Besides of the abovementioned three-axis tactile sensor comprised of two kinds of feelers, there is another design for ease of miniaturization. In the three-axis tactile sensor, the optical uni-axial tactile sensor is adopted as the sensor hardware and three-axis force is determined by image data processing of conical feeler's contact-areas to detect three-axis force (Ohka, M. et al, 1999(Ohka, M. et al, , 2005a. In the algorithm, an array of conical feelers is adopted as the texture of the rubber sheet.…”

Section: Optical Tactile Sensormentioning

confidence: 99%

“…In order to miniaturize the three-axis tactile sensor, the optical uni-axial tactile sensor is adopted as the sensor hardware because of simplicity and three-axis force is determined by image data processing of conical feeler's contact-areas to detect three-axis force (Ohka, M. et al, 1999(Ohka, M. et al, , 2005a. The three-axis force detection principle of this sensor is shown in Fig.…”

Section: None Columnar Feeler Type Three-axis Tactile Sensor For Micrmentioning

confidence: 99%