2023
DOI: 10.3390/s23249640
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Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation

Olivia Leslie,
David Córdova Bulens,
Stephen J. Redmond

Abstract: Real-time multi-axis distributed tactile sensing is a critical capability if robots are to perform stable gripping and dexterous manipulation, as it provides crucial information about the sensor–object interface. In this paper, we present an optical-based six-axis tactile sensor designed in a fingertip shape for robotic dexterous manipulation. The distributed sensor can precisely estimate the local XYZ force and displacement at ten distinct locations and provide the global XYZ force and torque measurements. It… Show more

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