Hostname: page-component-cd9895bd7-gbm5v Total loading time: 0 Render date: 2024-12-26T23:34:44.958Z Has data issue: false hasContentIssue false
  • English
  • Français

Effect of sensor size in robotic tactile sensor arrays

Published online by Cambridge University Press:  09 March 2009

A. W. De Groot
A. W. De Groot
Affiliation:
Department of Mechanical Engineering (Industrial Engineering Group), University of Manitoba, Winnipeg, Manitoba (Canada)
Get access Rights & Permissions [Opens in a new window]

Summary

The degree to which a binary tactile (or visual) image matches the original object is limited by the resolution of the sensor array. Given this fundamental limitation it is still possible to minimize the error in the image formed by the interconnection of the centers of activated sensors along the object's edge. This is achieved by a suitable choice of the physical size of each sensor within the limits of the pixel size. An empirical investigation shows that normally a sensor area of about 50% of the square of the resolution yields an optimal result.

Keywords

SensorsRobotsSensor SizeTactile Sensor
Type
Research Article
Information
Robotica , Volume 6 , Issue 4 , October 1988 , pp. 285 - 287
Copyright
Copyright © Cambridge University Press 1988

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Harmon, L.D., “Tactile Sensing for Robots” In: Beni, G. and Hackwood, S. (Eds.) Recent Advances in Robotics (John Wiley & Sons New York, N.Y., (1985).Google Scholar
2.Groot, A.W.De, “Tactile Sensing” In: Kusiak, A. (Ed.) Artificial Intelligence: Its Implications for Computer Integrated Manufacturing (IFS (Publications), Milton Keynes, U.K., 1988).Google Scholar
3.Groot, A.W.De and Lee, L.H., Some Aspects of Silhouette Shape Detection Through Tactile Sensing in Robot Manipulators” Proc. Robotics and Artificial Intelligence. Identification and Pattern Recognition Conf. 5, 87–97 (1986).Google Scholar
4.Siegel, M.W., “Intelligent Sensors Laboratory” In: Annual Research Review 1985 (The Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA, 1986).Google Scholar
5.Harmon, L.D., “Robotic Taction for Industrial Assembly” Int. J. Robotics Res. 3(1), 72–76 (1984).Google Scholar
6.Dunkelberger, K.A. and Mitchell, O.R., “Contour Tracing For Precision Measurement” Proc. IEEE 1985 Int. Conf. on Robotics And Automation 22–27 (1985).Google Scholar