Abstract
This paper presents a novel sensing method for soft objects by using a vision based tactile sensor. Supposing a soft object grasped by a robot hand, the proposed method distributedly recognizes force information in ununiform deformation and fracture. First, a marker type of vision based tactile sensor is developed, in which multiple markers are embedded in the flexible layer at the sensor surface. Image of markers that shows the deformation of the sensor surface by the contact with the object is acquired by a camera. Then, a radial analysis of marker displacement is implemented. For the center of object, the image is radially divided into multiple areas. Computing the sum of the marker displacements for each area, the force distribution at the sensor surface is quantified. Finally, the proposed method is experimentally validated using food samples. Stress relaxation after deformation and stress steep drop at fracture are distributedly recognized.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
