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Proceedings Paper

Combined force and position polyvinylidene fluoride (PVDF) robotic tactile sensing system
Author(s): Javad Dargahi; Andrew R. Eastwood; Ian J. Kemp
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Paper Abstract

This paper reports on a tactile sensing system with only three sensing elements. The magnitude and position of the applied force is obtained by utilizing triangulation approach combined with membrane stress, some information about shape of the contact object is obtained. The sensor is designed to overcome the problems of cross-talk between sensing elements, complexity and fragility which is associated with some PVDF tactile sensors arranged in matrix form. The theoretical analysis of the sensor is made and compared with experimental results. The limitation of the sensor is also reported.

Paper Details

Date Published: 16 June 1997
PDF: 11 pages
Proc. SPIE 3067, Sensor Fusion: Architectures, Algorithms, and Applications, (16 June 1997); doi: 10.1117/12.276132
Show Author Affiliations
Javad Dargahi, Glasgow Caledonian Univ. (United Kingdom)
Andrew R. Eastwood, Glasgow Caledonian Univ. (United Kingdom)
Ian J. Kemp, Glasgow Caledonian Univ. (United Kingdom)

Published in SPIE Proceedings Vol. 3067:
Sensor Fusion: Architectures, Algorithms, and Applications
Belur V. Dasarathy, Editor(s)

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