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Proceedings Paper

Relative hardness measurement of soft objects by a new fiber optic sensor
Author(s): Roozbeh Ahmadi; Pranav Ashtaputre; Jana Abou Ziki; Javad Dargahi; Muthukumaran Packirisamy
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Paper Abstract

The measurement of relative hardness of soft objects enables replication of human finger tactile perception capabilities. This ability has many applications not only in automation and robotics industry but also in many other areas such as aerospace and robotic surgery where a robotic tool interacts with a soft contact object. One of the practical examples of interaction between a solid robotic instrument and a soft contact object occurs during robotically-assisted minimally invasive surgery. Measuring the relative hardness of bio-tissue, while contacting the robotic instrument, helps the surgeons to perform this type of surgery more reliably. In the present work, a new optical sensor is proposed to measure the relative hardness of contact objects. In order to measure the hardness of a contact object, like a human finger, it is required to apply a small force/deformation to the object by a tactile sensor. Then, the applied force and resulting deformation should be recorded at certain points to enable the relative hardness measurement. In this work, force/deformation data for a contact object is recorded at certain points by the proposed optical sensor. Recorded data is used to measure the relative hardness of soft objects. Based on the proposed design, an experimental setup was developed and experimental tests were performed to measure the relative hardness of elastomeric materials. Experimental results verify the ability of the proposed optical sensor to measure the relative hardness of elastomeric samples.

Paper Details

Date Published: 15 September 2010
PDF: 6 pages
Proc. SPIE 7750, Photonics North 2010, 77500D (15 September 2010); doi: 10.1117/12.873106
Show Author Affiliations
Roozbeh Ahmadi, Concordia Univ. (Canada)
Pranav Ashtaputre, Concordia Univ. (Canada)
Jana Abou Ziki, Concordia Univ. (Canada)
Javad Dargahi, Concordia Univ. (Canada)
Muthukumaran Packirisamy, Concordia Univ. (Canada)


Published in SPIE Proceedings Vol. 7750:
Photonics North 2010
Henry P. Schriemer; Rafael N. Kleiman, Editor(s)

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