An LED-based Tactile Sensor for Multi-sensing over Large Areas

J. Rossiter, T. Mukai
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引用次数: 18

Abstract

We present an optical-based tactile sensor that utilizes light emitting diodes (LEDs) in combination with a semi-opaque compliant medium. Previously we have presented this technology in application to sensing either force or a combination of point force and position. In this paper we now consider the application of this sensor to the sensing of object size. We propose a modification that enables sensing of the size on an incident object whilst retaining the previous sensing abilities. This is achieved by introducing a second deformable layer that may optionally have different compressive and/or optically transmission properties. We present results of sensing the size of different objects using this modified sensor and consider the simultaneous measurement of force, size and position. This triple-sensing action, along with the soft nature of the sensor medium, is especially important in applications where the sensing elements may be widely dispersed, for example in safe and compliant robot skin covering.
基于led的大面积多感测触觉传感器
我们提出了一种基于光学的触觉传感器,该传感器利用发光二极管(led)与半透明兼容介质相结合。在此之前,我们已经将该技术应用于传感力或点力和位置的组合。本文研究了该传感器在物体尺寸感知中的应用。我们提出了一种修改,可以在保留以前的感知能力的同时感知事件对象的大小。这是通过引入第二个可变形层来实现的,该层可以选择性地具有不同的压缩和/或光学传输特性。我们给出了使用这种改进的传感器感知不同物体尺寸的结果,并考虑了力、尺寸和位置的同时测量。这种三重感应作用,以及传感器介质的柔软性质,在传感元件可能广泛分散的应用中尤其重要,例如在安全和合规的机器人皮肤覆盖物中。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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