JRM Vol.25 No.2 pp. 355-363
doi: 10.20965/jrm.2013.p0355


A Photoelastic Tactile Sensor to Measure Contact Pressure Distributions on Object Surfaces

Taku Nakamura, Fuminobu Kimura, and Akio Yamamoto

Department of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

September 24, 2012
February 15, 2013
April 20, 2013
tactile sensor, photoelasticity, contact pressure distribution
This paper describes the development of a tactile sensor that measures contact pressure distribution (CPD) within a sensor probe that emulates the human fingertip. The aim of development is to provide CPDs plausible enough to be utilized in performance evaluation or parameter calibration of a tactile softness display. The developed sensor system observes twodimensional photoelasticity of the finger-shaped sensor probe in a circular polariscope setup and visualizes CPDs using online image processing. Through considerations of sensor probe design and material, the sensor visualized CPDs on various surfaces with a spatial resolution of 2 mm and up to 2 N of contact force. Experimental results demonstrate the capability of the sensor to discriminate among given soft samples by different CPDs.
Cite this article as:
T. Nakamura, F. Kimura, and A. Yamamoto, “A Photoelastic Tactile Sensor to Measure Contact Pressure Distributions on Object Surfaces,” J. Robot. Mechatron., Vol.25 No.2, pp. 355-363, 2013.
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