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Proceedings Paper

Implications of solid mechanics for tactile feedback in teleoperation
Author(s): S. Laurie Ricker; Randy Evan Ellis
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Paper Abstract

Our recent work indicates that normal strain data generally provides insufficient information for reconstructing object geometry. For some classes of tactile tasks, the problem of object recognition is both underdetermined and, even if fully determined by the addition of shear data, is not stably invertible. Using both traditional theoretical analysis and finite-element methods to study the solid mechanics of a contact, a series of geometric indentors are applied to a tactile sensor model. In underdetermined cases, adding tangential (shear) components to the normal components of the sensed strains may allow discrimination of fine-form geometries. This indicates that in providing tactile displays to a human operator, both tangential and normal forces or displacements should be considered.

Paper Details

Date Published: 26 March 1993
PDF: 12 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142110
Show Author Affiliations
S. Laurie Ricker, Queen's Univ. (Canada)
Randy Evan Ellis, Queen's Univ. (Canada)

Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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