Analysis and design of a tactile sensor detecting strain distribution inside an elastic finger

Takashi Maeno, Takashi Kawai, Kazumi Kobayashi

Research output: Contribution to conferencePaperpeer-review

36 Citations (Scopus)

Abstract

Humans obtain complex information using different tactile receptors in the skin of the finger. Artificial tactile sensors capable of detecting complex information can be realized by imitating certain characteristics of the human finger, such as the geometry of the finger and the location of the tactile receptors. In the present paper, we analyzed the strain distribution that occurs inside an elastic finger having a curved surface when the finger is in contact with an object. Detection of the shear strain distribution pattern was found to be important. In addition, a strain distribution sensor was developed, in which strain gages bonded on thin plates are arranged at uniform intervals inside the curved surface of an elastic finger made of silicone rubber. The geometry of the elastic finger was designed by calculating the contact condition between the finger and objects with/without tangential load using FE (Finite Element) analysis. The fundamental characteristics of the strain distribution sensor were confirmed.

Original languageEnglish
Pages1658-1663
Number of pages6
Publication statusPublished - 1998 Dec 1
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: 1998 Oct 131998 Oct 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period98/10/1398/10/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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