A study on three axis tactile sensors mounted on multi-fingered robotic hands

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In order to develop a new three-axis tactile sensor mounted on multi-fingered robotic hands, optimization of sensing elements was performed on the basis of the author's previous works concerning with optical three-axis tactile sensors having flat sensing surface. Next, a semispherical surfaced sensor was designed using the optimized sensing elements because the semispherical sensing surface was suited to the multi-fingered robotic hand. Obtained results are summarized as follows:(1)Deformation of sensing elements accepting shearing force was examined to analyze continuous contact tests sliding the sensor on object surfaces. Taking the deformation effect into account, expressions for three-axis force estimation were formulated.(2)Characteristics of three types of sensing elements were examined to survey an optimum element. At the result of the investigation, a sensing element having one columnar feeler and 8 conical feelers had wide range of shearing force detection and excellent linearity.(3)Since semispherical sensing surface was suited to the multi-fingered robotic hand, a finger-typed tactile sensor was designed with the semispherical sensing surface and the 8-columnar-feelers typed sensing elements. And transform expressions were formulated to obtain correct contact areas located on semispherical surfaces.(4)When the expressions were evaluated using a loading machine, integration of gray scale value varied linearly under increases in normal force.