PLANAR AND FINGER-SHAPED OPTICAL TACTILE SENSORS FOR ROBOTIC APPLICATIONS
PLANAR AND FINGER-SHAPED OPTICAL TACTILE SENSORS FOR ROBOTIC APPLICATIONS
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DOI：
10.1109/56.20431
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发表时间：
1988-10-01
期刊：
影响因子：
--
通讯作者：
BEGEJ, S
中科院分区：
文献类型：
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作者：
BEGEJ, S
介绍了专门设计用于灵巧机器人的光学触觉传感器的开发进展。这些传感器根据光学原理工作，涉及波导/弹性体界面处的全内反射的挫折，并产生代表正常（垂直）接触力的灰度触觉图像。讨论的第一触觉传感器是一个紧凑的，32*32平面传感器阵列，旨在安装在一个平行颚夹持器。采用光纤将触觉图像传送到CCD相机和基于微处理器的图像分析系统。第二个传感器具有人类指尖的形状和大小，是为灵巧的机器人手设计的。它包含257个以双密度模式分布的感知部位（taxel），包括靠近尖端的触觉中心凹，测量为13*13 mm，包含169个taxel。这些触觉传感器的设计和施工细节，除了触觉印记的照片。<>
Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32*32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 257 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13*13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints.<>