Design, Fabrication, and Characterization of a Novel Optical Six-Axis Distributed Force and Displacement Tactile Sensor for Dexterous Robotic Manipulation.

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. Its compact size, comparable to that of a human thumb, and minimal thickness allow seamless integration onto existing robotic fingers, eliminating the need for complex modifications to the gripper. The proposed sensor design uses a simple, low-cost fabrication method. Moreover, the opti

SUBMITTER: Leslie O 

PROVIDER: S-EPMC10748078 | biostudies-literature | 2023 Dec

REPOSITORIES: biostudies-literature