Abstract
A concept of a finger-shaped tactile sensor which consists of a CCD and a semispherical optical guide covered with an elastic sheet and connected to a light source is proposed. The principle of the sensor is based on producing scattering light at the sensor-object contact. Detecting the light using a CCD, the contact location is recognized. From a simple calculation using the equation of the sensor surface, the sensor can also provide the surface normal of the touched object. Through experiments using a constructed prototype sensor, fundamental characteristics of the sensor are evaluated and the principle of the sensor is confirmed. With these results in mind, finally, how to make the sensor smaller to install it on the tip of robotics fingers is discussed.
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