An active touch sensing method using a spatial filtering tactile sensor

Author

Shimojo, Makoto ; Ishikawa, Masatoshi

Author_Institution

Nat. Inst. of Biosci. & Human-Technol., Ibaraki, Japan

fYear

1993

fDate

2-6 May 1993

Firstpage

948

Abstract

A sensor system that measures the surface pattern of objects by using a spatial filtering tactile sensor is described. The sensor has a bandpass spatial filtering function and changes its center of spatial frequency with the tactile motion. The idea of this method is based on the nervous system in a human finger. This sensor system is characterized by robot measurement for nonuniform contact states, adaptability for a wide spatial frequency range in the surface pattern of objects, and high spatial resolution. The characteristics of the sensor are analyzed, an adaptive operation algorithm for identifying the surface pattern of objects is described, and simulation and experimental results are given

Keywords

filtering and prediction theory; pattern recognition; spatial filters; tactile sensors; active touch sensing; adaptability; adaptive operation algorithm; bandpass spatial filtering; contact states; spatial frequency; surface pattern recognition; tactile motion; tactile sensor; Band pass filters; Filtering; Fingers; Frequency; Humans; Nervous system; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292098

Filename

292098