Title :
A tactile sensor skin for measuring surface contours
Author :
Russell, R.Andrew
Author_Institution :
Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
Abstract :
The design and construction of a compliant tactile sensory skin intended for use in robotics applications are described. Sensor compliance increases the information gathering capabilities of the sensor, accommodates a degree of inaccuracy in robot positioning, aids stable grasping and resists damage. The sensor consists of a quantity of fluid contained behind a neoprene rubber skin. The electrical resistance between points on the rubber skin and the rigid substrate provides a measure of the surface profile of objects indented into the sensor. Results obtained using a prototype version of the sensor are presented
Keywords :
industrial robots; tactile sensors; electrical resistance; information gathering capabilities; neoprene rubber skin; prototype version; rigid substrate; robot positioning; robotics; stable grasping; surface contour measurement; surface profile; tactile sensor skin; Electric resistance; Electric variables measurement; Electrical resistance measurement; Prototypes; Resists; Robot sensing systems; Rubber; Skin; Surface resistance; Tactile sensors;
Conference_Titel :
TENCON '92. ''Technology Enabling Tomorrow : Computers, Communications and Automation towards the 21st Century.' 1992 IEEE Region 10 International Conference.
Conference_Location :
Melbourne, Vic.
Print_ISBN :
0-7803-0849-2
DOI :
10.1109/TENCON.1992.271943
