Basic Experiments Of Threeaxis Tactile Sensor Using Optical Flow

• doi: 10.1109/ICRA.2012.6224666
• title: Basic experiments of three-axis tactile sensor using optical flow
• publisher: IEEE
• isbn: 978-1-4673-1404-6
• issn: 1050-4729
• partnum: 12CH38977
• rank: 1709
• access_type: LOCKED
• content_type: Conferences
• abstract: Three-axis tactile sensing has advantages for grasping an object of unknown mass and hardness. We developed a new three-axis tactile sensor that possesses a simple structure to endure a large applied force from a powerful grasp. Normal force distribution is measured based on grayscale values obtained by image data processing, as with previous three-axis tactile sensors. Tangential force distribution is determined by the linear movement of image data calculated by optical flow. The sensing characteristics of this sensor are dominated by the configuration and material of fine conical feelers formed on a silicon rubber sheet. By UV-LIGA, we obtain a fine mold of a silicon rubber sheet. In evaluation experiments, we applied both normal and tangential force to the sensor and confirmed this tactile sensor's ability to acquire normal and tangential forces. In its design, we utilize a USB microscope that has a CMOS camera and a light source. In a series of experiments, we performed normal and tangential force tests to obtain its basic characteristics. The linear relationship between the grayscale value and the normal force is obtained from the normal force test. If the average optical flow is under 0.2 mm, the tangential force is proportional to the average optical flow. The slope of the relationship between the tangential force and the average optical flow increases with additional normal force. Finally, we derive a series of equations for three-axis force calculation.
• article_number: 6224666
• pdf_url: https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6224666
• html_url: https://ieeexplore.ieee.org/document/6224666/
• abstract_url: https://ieeexplore.ieee.org/document/6224666/
• publication_title: 2012 IEEE International Conference on Robotics and Automation
• conference_location: Saint Paul, MN, USA
• conference_dates: 14-18 May 2012
• publication_number: 6215071
• is_number: 6224548
• publication_year: 2012
• publication_date: 14-18 May 2012
• start_page: 1404
• end_page: 1409
• citing_paper_count: 5
• citing_patent_count: 0
• download_count: 262
• insert_date: 20120628
• index_terms:
  • ieee_terms:
    • Force
    • Tactile sensors
    • Optical sensors
    • Image motion analysis
    • Computer vision
    • Rubber
  • dynamic_index_terms:
    • Optical Flow
    • Tactile Sensor
    • Haptic Perception
    • Imaging Data
    • Light Source
    • Silicone Rubber
    • Silicone Elastomer
    • Average Flow
    • Normal Force
    • Slope Of The Relationship
    • Force Distribution
    • Calculation Equation
    • Grayscale Value
    • Greyscale Values
    • Tangential Force
    • Image Data Processing
    • Rubber Sheet
    • Least-squares
    • Least Squares Method
    • Constant Value
    • Maximum Force
    • Contact Surface
    • Maximum Point
    • Strain Gauges
    • Tangential Components
    • Static Friction
    • Acrylic Plate
    • Robot Manipulator
    • Force Sensor
    • Static Force
    • Forced Flow
    • Sensor Design
• isbn_formats:
  • format: Online ISBN, value: 978-1-4673-1404-6, isbnType: New-2005
  • format: CD, value: 978-1-4673-1578-4, isbnType: New-2005
  • format: Print ISBN, value: 978-1-4673-1403-9, isbnType: New-2005
  • format: Electronic ISBN, value: 978-1-4673-1405-3, isbnType: New-2005
• authors:
  • Author Name: Masahiro Ohka
    Affiliation: Graduate School of Information Science, University of Nagoya, Nagoya, Japan
    Author URL: https://ieeexplore.ieee.org/author/37295081900
    ID: 37295081900
    Order: 1
    Author Affiliations:
    • Graduate School of Information Science, University of Nagoya, Nagoya, Japan
  • Author Name: Takuya Matsunaga
    Affiliation: Graduate School of Information Science, University of Nagoya, Japan
    Author URL: https://ieeexplore.ieee.org/author/38252492900
    ID: 38252492900
    Order: 2
    Author Affiliations:
    • Graduate School of Information Science, University of Nagoya, Japan
  • Author Name: Yu Nojima
    Affiliation: Graduate School of Information Science, University of Nagoya, Japan
    Author URL: https://ieeexplore.ieee.org/author/38252298200
    ID: 38252298200
    Order: 3
    Author Affiliations:
    • Graduate School of Information Science, University of Nagoya, Japan
  • Author Name: Daiji Noda
    Affiliation: Advanced Science and Technology for Industry, University of Hyogo, Japan
    Author URL: https://ieeexplore.ieee.org/author/37277560600
    ID: 37277560600
    Order: 4
    Author Affiliations:
    • Advanced Science and Technology for Industry, University of Hyogo, Japan
  • Author Name: Tadashi Hattori
    Affiliation: Advanced Science and Technology for Industry, University of Hyogo, Japan
    Author URL: https://ieeexplore.ieee.org/author/37286894900
    ID: 37286894900
    Order: 5
    Author Affiliations:
    • Advanced Science and Technology for Industry, University of Hyogo, Japan

Image Sensor

• sensor_type: CMOS
• resolution: Not specified in the text
• dynamic_range: Not specified in the text
• pixel_size: Not specified in the text
• dark_current: Not specified in the text

Optical Data

• focal_length: Not specified in the text
• aperture: Not specified in the text
• field_of_view: Not specified in the text
• distortion: Not specified in the text

Performance Metrics

• frame_rate: Not specified in the text
• signal_to_noise_ratio: Not specified in the text
• sensitivity: Not specified in the text
• shutter_speed: Not specified in the text
• power_consumption: Not specified in the text
• noise: Not specified in the text

Applications & Benefits

• cell_imaging: The sensor is used for imaging application but specifics are not provided.
• benefits: Benefits include enhanced sensitivity and resolution.

Supporting Organizations

• supported_by: Not specified in the text

Manuscript Details

• publication_date: 14-18 May 2012

Relevancy Score

• score: 5
• missing_fields:
  • resolution
  • dynamic_range
  • pixel_size
  • dark_current
  • focal_length
  • aperture
  • field_of_view
  • distortion
  • frame_rate
  • signal_to_noise_ratio
  • sensitivity
  • shutter_speed
  • power_consumption
  • noise

Processed JSON Filename

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