Distributed-force recovery for a planar photoelastic tactile sensor

Author

Saad, Ricardo E. ; Bonen, Adi ; Smith, Kenneth C. ; Benhabib, Beno

Author_Institution

Comput. Integrated Manuf. Lab., Toronto Univ., Ont., Canada

Volume

45

Issue

2

fYear

1996

fDate

4/1/1996 12:00:00 AM

Firstpage

541

Lastpage

546

Abstract

In this paper, an efficient force-recovery algorithm is presented for a novel planar photoelastic tactile transducer. A distributed-force profile input to the tactile sensor developed in our laboratory generates stress in the photoelastic layer of the transducer, making it birefringent. Circularly polarized light input to the transducer is elliptically polarized at the output due to phase-lead created in the stressed photoelastic layer. The algorithm presented recovers the phase-lead distribution and correlates it to the input force profile. Since this distribution is a linear function of the force profile, the solution of the inverse-tactile problem is significantly simplified. The paper presents the analytical basis of the algorithm as well as the numerical technique used in its solution

Keywords

birefringence; inverse problems; light polarisation; optical sensors; photoelasticity; random noise; tactile sensors; CCD sensor; algorithm; birefringent layer; circularly polarized light; distributed-force profile input; distributed-force recovery; elliptically polarized light; input force profile; inverse-tactile problem; laboratory; linear function; noise; numerical technique; phase-lead distribution; planar photoelastic tactile sensor; quantisation error; stressed photoelastic layer; transducer; Birefringence; Integrated optics; Object detection; Optical polarization; Optical sensors; Photoelasticity; Piezoresistance; Sensor phenomena and characterization; Tactile sensors; Transducers;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.492783

Filename

492783