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Proceedings Paper

A Capacitive Lased Tactile Sensor
Author(s): David M. Siegel; Inaki Garabieta; John M. Hollerbach
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Paper 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.

Paper Details

Date Published: 11 December 1985
PDF: 9 pages
Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); doi: 10.1117/12.950795
Show Author Affiliations
David M. Siegel, MIT (United States)
Inaki Garabieta, MIT (United States)
John M. Hollerbach, MIT (United States)

Published in SPIE Proceedings Vol. 0579:
Intelligent Robots and Computer Vision IV
David P. Casasent, Editor(s)

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