Optical Three-Axis Tactile Sensor

摘要

In this chapter, mechanism and evaluation of the optical three-axis tactile sensor are described to show sensing characteristics on three components of force vector applied to the sensing element. Then, recognition method for subtle convex portions of flat plate is presented to show effective of the present method using a series of experiments. In future work, the author plans to mount the present three-axis tactile sensors on a micro and robotic fingers to perform verification experiments and will perform edge tracing of an object and object manipulation. In these experiments, the presented recognition method will be effective to determine subtle concave and convex portions located on any surfaces.