A tactile sensing algorithm based on elastic transfer function of surface deformation

Author

Shinoda, Hiroyuki ; Ando, Shigeru

Author_Institution

Eng. Res. Inst., Tokyo Univ., Japan

Volume

3

fYear

1992

fDate

23-26 Mar 1992

Firstpage

589

Abstract

A new tactile sensing algorithm based on the elastic transfer function of surface deformation is proposed. Utilizing the inherent mechanism of an elastic body, it is shown that only a pair of vertically separated pressure probes can determine a single dominant spatial frequency of a fixed surface being touched, and also an arbitrary spatial spectrum of a moving surface profile without knowing its speed. Theory of vertical sampling in the elastic body is presented. Several experimental results utilizing a pair of pressure probes embedded in a silicone rubber sensor tip are shown

Keywords

elastic deformation; pressure sensors; tactile sensors; transfer functions; arbitrary spatial spectrum; elastic transfer function; fixed surface; moving surface; silicone rubber sensor tip; single dominant spatial frequency; surface deformation; tactile sensing algorithm; vertical sampling; vertically separated pressure probes; Frequency; Humans; Optical arrays; Optical sensors; Probes; Rough surfaces; Sensor arrays; Surface texture; Tactile sensors; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Acoustics, Speech, and Signal Processing, 1992. ICASSP-92., 1992 IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1520-6149

Print_ISBN

0-7803-0532-9

Type

conf

DOI

10.1109/ICASSP.1992.226144

Filename

226144