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A Capacitive Lased Tactile Sensor
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A Capacitive Lased Tactile Sensor
A Capacitive Lased Tactile Sensor
DS
David M. Siegel
David M. Siegel
IG
Inaki Garabieta
Inaki Garabieta
JH
John M. Hollerbach
John M. Hollerbach
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11 December 1985
proceedings article
Published by
SPIE-Intl Soc Optical Eng
Vol. 579
,
153-161
https://doi.org/10.1117/12.950795
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.© (1985) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.
Keywords
SENSORS
CAPACITORS
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Cited by 8 articles