Display of Surface Shapes of Contact Objects by the Tactile Sensor with Multi Artificial Whiskers

Abstract

This study presents a method of displaying surface shape of contact objects by the obtained data by a tactile sensor with multi artificial whiskers. Previously we have proposed a method of distinguishing simple shape objects from the deflection directions of whiskers. However the method can distinguish only provided objects. Thus, this study proposes a method of displaying of features of contact objects from the deflection directions of whiskers. By applying the conventional image processing method to the obtained display results, various objects will be distinguished. The proposed method is performed in the following steps. First, the tactile sensor with multi artificial whiskers contacts to an object and measures the deformation of whiskers. Next, the deflection directions of whiskers are recognized by the neural network. Using the recognized results, partial shapes are distinguished and displayed. This study furthermore shows that a basic image processing method can distinguish contact objects by using the proposed display results.