光導波板型の分布形触覚センサによる触知対象の輪郭形状抽出

概要

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A high resolution tactile sensor of pressure to-light conversion type is developed. An object is pressed on a white elastic sheet to make close contact with a transparent plate underneath. Then the side of the plate is irradiated. The sheet contact areas on the plate scatter the light which provides a tactile image of the object profile. This is based on the mechanism that the contact material at the surface of the transparent plate is changed from the air to an elastic sheet, and then the condition of total reflection does not stand any more. A CCD-camera is used to detect the images and microcomputer is used to convert to binary images with a fixed threshold. In order to get an optimal sensor system, how to design the parameters of each sensor assembly is discussed. Through the evaluation experiment for the sensor system, it is found that spatial resolution of measuring object profiles is about 2 mm and pressure sensitivity is about 2×10^4 Pa.
社団法人日本機械学会の論文
1989-08-25