Abstract
A tactile image sensor employing a camera is capable of obtaining rich tactile information through image sequences with high spatial resolution. There have been many studies on the tactile image sensors from more than 30 years ago, and, recently, they have been applied in the field of robotics. Tactile image sensors can be classified into three typical categories according to the method of conversion from physical contact to light signals: Light conductive plate-based, marker displacement- based, and reflective membrane-based sensors. Other important elements of the sensor, such as the optical system, image sensor, and post-image analysis algorithm, have been developed. In this work, the literature is surveyed, and an overview of tactile image sensors employing a camera is provided with a focus on the sensing principle, typical design, and variation in the sensor configuration.
Highlights
Tactile sensing in fingers and hands has an important role in the identification and manipulation of objects for humans and robots [1]
“tactile image sensor” is used to make it clear that the output of the sensor is obtained as an image sequence, including distributed tactile information through a camera
While there have been many studies on tactile sensors using cameras, and the conversion methods vary, most of them can be classified into the typical three categories according to the conversion method from the physical tactile stimuli to the light signal that can be captured by a camera
Summary
Tactile sensing in fingers and hands has an important role in the identification and manipulation of objects for humans and robots [1]. Spatial resolution and the number of tactile sensing elements (sometimes referred to as “taxels”) can be important factors for sophisticated robotic tactile sensing. The effectiveness of arrayed tactile sensors and the importance of spatial resolution of robotic tactile sensors have been reported [7,8]. A readout scanner is commonly integrated in the image sensor; it can read out the response, even from millions of pixels This idea was proposed more than 30 years ago [19,20,21], and there have been many studies on tactile sensing using a camera since . The evolution of image processing hardware and software makes it easier to use image processing, even in real-time and embedded applications With this background, recently, research on tactile sensors using cameras has increased. “tactile image sensor” is used to make it clear that the output of the sensor is obtained as an image sequence, including distributed tactile information through a camera
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
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 call
