Dynamic tactile information sensing for dextrous fingers utilizing displacement parameters of a suspension shell

Abstract

This paper describes an optical displacement measurement method to develop tactile scnsors based on a suspension-shell mechanism for dextrous fingers. To express position and orientation of the suspcnsion-shell, three parameters of angular displacements and two parameters of linear displacements are introduced. Besides, a method for measuring thcse five parameters using inverse optical projection is proposed. Only the longitudinal force of the springs suspending the shcll coaxially around the rigid finger body is considered. Thus, the dynamic analysis of balance becomes very simple. Algebraic formulations for estimating magnitude, direction and position of the external force are shown. Also, simulations to verify the proposed proccdures are made.

A miniaturized and flexible optoelectronic sensing system for tactile skin

“…The large majority of past and present skins can be classified without doubt as 'electrical' (both in sensing and transmission), while the use of optics has been less common. Optics could be used in sensors and/or in interconnections (to carry sens ory data): several optical tactile sensors that could be used in sensitive skins present electrical outputs [9,10]; some examples of optical sensors with optical output can be found in [11][12][13][14].…”