Development of tactile sensor using stereo fisheye camera by rotation

Abstract

In this paper, we propose a 3D coordinate measurement method using a stereo fisheye camera using rotation for tactile sensors.A soft haptic interface by an optical method using a camera has simple wiring and the like, and has a point that it does not impair the mechanical properties of a flexible outer skin and is strong against noise. On the other hand, since many ranges inside the sensor are used for sensing, there is a disadvantage that the usable range inside is narrow. In this paper, we propose a three-dimensional coordinate estimation method using the rotation of a fish-eye camera to expand the usable range inside the tactile sensor. Experimental results show the effectiveness of the proposed method.