A tactile sensor based on thin-plate deformation

Traditionally, tactile sensors have been designed using compliant, rubber-like materials; when such a sensitized gripper grasps or otherwise manipulates an object, the normal strain deformation in the compliant material is sampled. The resulting information can be used to deduce simple local geometr...

Full description

Saved in:
Bibliographic Details
Published in:Robotica 1994-07, Vol.12 (4), p.343-351
Main Authors: Ellis, R.E., Ganeshan, S.R., Lederman, S.J.
Format: Article
Language:English
Subjects:
Applied sciences
Exact sciences and technology
General equipment and techniques
High accuracy
Instruments, apparatus, components and techniques common to several branches of physics and astronomy
Material handling, hoisting. Storage. Packaging
Physics
Servo and control equipment
robots
Tactile sensor
Thin-platē deformation
Transfert equipment, manipulators
industrial robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Traditionally, tactile sensors have been designed using compliant, rubber-like materials; when such a sensitized gripper grasps or otherwise manipulates an object, the normal strain deformation in the compliant material is sampled. The resulting information can be used to deduce simple local geometry of the contact, but the transduction process does not typically permit use of the individual strains in determining large-scale properties of the object (e.g., the inertia). Measurements of inertial parameters of grasped objects require accurate, low-hysteresis transduction that few tactile sensors currently provide. An alternative is to work from the task specification, and determine the tactile information that is necessary to accomplish the task. Here, we consider how to sense the length and mass of a uniform object that is gripped in a gravitational field, and show the design and assessment of a new kind of tactile sensor that is based on the theory of the deformation of thin plates. Features of this design include its potentially rugged realization, and its high-accuracy measurement that is more typical of force sensors than of tactile sensors.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574700017367