Dubey, V. N. and Crowder, R. M., 2005. Photoelasticity based dynamic tactile sensor. In: ASME International Design Engineering Technical Conference, 24-28 September 2005, Long Beach, California, USA, pp. 235-243.
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The paper presents design, construction and testing of a photoelasticity based dynamic sensor which is capable of detecting slip as well as providing normal force information. Starting with investigations into mechanism of slip, an approximate model of the sensor has been developed. This model explains the design improvements necessary to provide continuous signal during slip. The theoretical model also helps identify various sensor parameters to characterize the sensor. The developed sensor has been compared with other existing sensors and the experimental results from the sensor have been discussed for the type of signal the sensor provides. The sensor is also calibrated for normal force. The sensor is novel in the sense that it offers dynamic slip signal as well as the normal force information from a single contact location, it provides continuous signal during slip, and it has small size which can be easily incorporated into robotic fingers. The sensor has an edge over other existing sensors that its design is simple yet it provides strong signals which are largely unaffected by external disturbances. Copyright © 2005 by ASME.
|Item Type:||Conference or Workshop Item (Paper)|
|Additional Information:||Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005 4, pp. 235-243|
|Uncontrolled Keywords:||Dynamic sensing; Photoelasticity; Shear sensing; Slip sensor; Tactile sensor|
|Subjects:||Technology > Engineering > General Engineering|
|Group:||School of Design, Engineering & Computing|
|Deposited By:||Dr Venky Dubey|
|Deposited On:||16 Sep 2009 20:53|
|Last Modified:||07 Mar 2013 15:11|
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