A prototype for an image-based tactile sensor

Collins, Aaron; Hoover, William G.

doi:10.1109/robot.1987.1087882

Cited by 8 publications

(1 citation statement)

References 5 publications

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“…Optical tactile sensors are an alternative to tactile arrays and been developed for contact localization, including [23], [1] and [20]. Other image-based tactile sensors are described in [6] and [10]. In [25], [4] and [8] "intrinsic" tactile sensing is explored, where knowledge of a (rigid) fingertip's shape is used in conjunction with force-torque sensors.…”

Section: Introductionmentioning

confidence: 99%

The performance of a deformable-membrane tactile sensor: basic results on geometrically-defined tasks

Hristu

Ferrier

Brockett

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (C

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The limitations of rigid fingertips in the precise and algorithmic study of manipulation have been discussed in many works, some dating back more than a decade. Despite that fact, much of the work in dexterous manipulation has continued to use the "point-contact" model for finger-object interactions. In fact, most of the exsisting tactile sensing technologies are not adaptable to deformable fingertips. In this work we report on experimental results obtained with a deformable tactile sensor whose properties are well-suited to manipulation. The results presented here show that the sensor described provides a rich set of tactile data.

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