Title :
Using a cylindrical tactile sensor for determining curvature
Author :
Fearing, R.S. ; Binford, T.O.
Author_Institution :
Dept. of Comput. Sci., Stanford Univ., CA, USA
Abstract :
A description is given of a device for determining curvatures using a cylindrical tactile sensor. The finger touches an unknown convex surface. Principal curvatures, normal force and location are determined from a 4×4 window of strain measurements. Sensor strains are predicted by convolving the spatial impulse response of the rubber skin with the assumed surface pressure distribution derived from a Hertz contact model. Gradient search finds the parameters of the convex second-order shape and the force that best fit the sensor data. Experiments show radius estimation within 10%, orientation within 2.5 degrees, and sub-tactel localization of 3% of the element spacing. Accuracy limits due to sensor noise are derived
Keywords :
image sensors; robots; strain measurement; tactile sensors; Hertz contact model; curvature; cylindrical tactile sensor; robotics; rubber skin; spatial impulse response; strain measurements; surface pressure distribution; Capacitive sensors; Fingers; Force measurement; Force sensors; Predictive models; Rubber; Skin; Strain measurement; Surface fitting; Tactile sensors;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12151
