A tactile sensing algorithm based on elastic transfer function of surface deformation
- 1 January 1992
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (15206149) , 589-592 vol.3
- https://doi.org/10.1109/icassp.1992.226144
Abstract
A new tactile sensing algorithm based on the elastic transfer function of surface deformation is proposed. Utilizing the inherent mechanism of an elastic body, it is shown that only a pair of vertically separated pressure probes can determine a single dominant spatial frequency of a fixed surface being touched, and also an arbitrary spatial spectrum of a moving surface profile without knowing its speed. Theory of vertical sampling in the elastic body is presented. Several experimental results utilizing a pair of pressure probes embedded in a silicone rubber sensor tip are shown.<>Keywords
This publication has 3 references indexed in Scilit:
- An Anthropomorphic Robot Finger for Investigating Artificial Tactile PerceptionThe International Journal of Robotics Research, 1987
- A Torque-Sensitive Tactile Array for RoboticsThe International Journal of Robotics Research, 1983
- A High-Resolution Imaging Touch SensorThe International Journal of Robotics Research, 1982