An active touch sensing method using a spatial filtering tactile sensor

摘要

A sensor system that measures the surface pattern of objects by using a spatial filtering tactile sensor is described. The sensor has a bandpass spatial filtering function and changes its center of spatial frequency with the tactile motion. The idea of this method is based on the nervous system in a human finger. This sensor system is characterized by robot measurement for nonuniform contact states, adaptability for a wide spatial frequency range in the surface pattern of objects, and high spatial resolution. The characteristics of the sensor are analyzed, an adaptive operation algorithm for identifying the surface pattern of objects is described, and simulation and experimental results are given.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>