Orientation Detection of Sensed Objects using a Four Sensor Tactile System with Applications in Bio-Robotics

Abstract

Abstract:A novel approach is presented that can be used in determining the sensitivity of a four sensor tactile sensor to the orientation of the contacted objects. Computer simulations were conducted by using a rectangular probe of 14 mm by 7 mm size and applying three magnitudes of forces, i.e., 0.5, 1, and 2 N. A bi-variate function was obtained, showing the amount of output charge against both the angle of orientation and the magnitude of the applied force. By computing the errors, the proposed model proved efficient in predicting the orientation of sensed objects with reasonable accuracy.

A Novel Teletaction Control System for Detection of Human Pulse Wave with Applications in Teleoperations

“…This sense of touch is important in applications such as surgery, where the feel of the environment provides knowledge that cannot be obtained by purely visual means [24][25][26] . The tactile interface reproduces, as accurately as possible, the parameters such as force (static and dynamic), texture, roughness, temperature and shape [27] .…”