Development of a Finger-Mounted Tactile Sensor

即使在已经开发了自动化技术的工业领域，许多任务仍然需要人工操作。训练有素的工匠的触觉是不可或缺的。本研究的目的是开发一种手指安装式触觉传感器。通过在手指上安装传感器，将灵巧的手指应用到传感中，很容易引入到任务中，并给出了直观的传感。研制了一种用于微小表面不规则性检测的触觉传感器，并引入了实时信号处理技术对其进行检测和评价。结果表明，该传感器能够检测出表面的不规则性，并能对其进行相对评价。

Many tasks have still required human hand even in industry fields where automation technologies have been developed. Well-trained craftsworker's touch is indispensable. The aim of this study is the development of a finger-mounted tactile sensor. By mounting a sensor on finger, dexterous human fingers are applied to the sensing, it is easy to introduce into the task, and the intuitive sensing is given. A tactile sensor for small surface irregularity inspection was developed and real-time signal processing was introduced for detection and evaluation. Results show that the sensor can detect the surface irregularity and evaluate it relatively.