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Summary: A Tactile Sensor Based on
Thin-Plate Deformation
R. E. Ellis
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S. R. Ganeshan
S. J. Lederman
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Department of Computing and Information Science
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Department of Mechanical Engineering£
Department of Psychology
Queen's University, Kingston, Ontario, Canada K7L 3N6
ABSTRACT
Traditionally, tactile sensors have been designed using compliant, rubber-like materials; when such a sensitized
gripper grasps or otherwise manipulates an object, the normal strain deformation in the compliant material is
sampled.The resulting information can be used to deduce simple local geometry of the contact, but the transduc-
tion process does not typically permit use of the individual strains in determining large-scale properties of the
object (e.g., the inertia). Measurements of inertial parameters of grasped objects require accurate, low-hysteresis
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