TACTILE SENSING MECHANISMS

被引：105

作者：

FEARING, RS ^{[1
]}

机构：

[1] STANFORD UNIV,STANFORD,CA 94305

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1990年 / 9卷 / 03期

关键词：

D O I：

10.1177/027836499000900301

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper has three main themes: design of a cylindrical tactile sensor, mechanical analysis using planar linear elas ticity models, and signal analysis for determining basic infor mation about the applied contact. An analysis of appropriate sensor depth has been used to allow accurate localization of contacts and reduced spatial aliasing. A comparison has been made between the cylindrical sensor and a simple two- dimensional stress-strain model. The effects of skin thickness and sensor depth on sensitivity are analyzed. Preliminary methods for determining contact location, total force, and tangential force with only normal deflection sensors have been implemented for a line contact. © 1990, Sage Publications. All rights reserved.

引用

页码：3 / 23

页数：21

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