A Capacitive Lased Tactile Sensor

David M. Siegel; Inaki Garabieta; John M. Hollerbach

doi:10.1117/12.950795

11 December 1985 A Capacitive Lased Tactile Sensor

David M. Siegel, Inaki Garabieta, John M. Hollerbach

Proceedings Volume 0579, Intelligent Robots and Computer Vision IV; (1985) https://doi.org/10.1117/12.950795
Event: 1985 Cambridge Symposium, 1985, Cambridge, United States

Abstract

A tactile sensor for use with robotic manipulators is de-scribed. The sensor has a spatial resolution of 8 x 8 points in a 1.27 x 1.27 cm square space, giving it a theoretical. two point disparity of 1.9 mm. Force is measured by determining the variation in distance between two parallel plates of a capacitor. An injected molded silicone rubber material, placed between the upper and lower plates of the force sensing capacitors, is used as both the elastic and di-electric medium. A series of experiments were conducted to quantify the performance of the device; hysteresis was found to be low and spatial resolution approached its theoretical limit. Finally, the tactile force images of several small objects are shown.

Citation Download Citation

David M. Siegel, Inaki Garabieta, and John M. Hollerbach "A Capacitive Lased Tactile Sensor", Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); https://doi.org/10.1117/12.950795

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available