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Article

Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor

Institute for Dynamic Systems and Control, ETH Zurich, 8092 Zurich, Switzerland
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Sensors 2019, 19(4), 928; https://doi.org/10.3390/s19040928
Received: 10 December 2018 / Revised: 8 February 2019 / Accepted: 18 February 2019 / Published: 22 February 2019
(This article belongs to the Special Issue E-Skin Sensors)
Human skin is capable of sensing various types of forces with high resolution and accuracy. The development of an artificial sense of touch needs to address these properties, while retaining scalability to large surfaces with arbitrary shapes. The vision-based tactile sensor proposed in this article exploits the extremely high resolution of modern image sensors to reconstruct the normal force distribution applied to a soft material, whose deformation is observed on the camera images. By embedding a random pattern within the material, the full resolution of the camera can be exploited. The design and the motivation of the proposed approach are discussed with respect to a simplified elasticity model. An artificial deep neural network is trained on experimental data to perform the tactile sensing task with high accuracy for a specific indenter, and with a spatial resolution and a sensing range comparable to the human fingertip. View Full-Text
Keywords: tactile sensing; machine learning; optical tactile sensors; computer vision; robotics tactile sensing; machine learning; optical tactile sensors; computer vision; robotics
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MDPI and ACS Style

Sferrazza, C.; D’Andrea, R. Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor. Sensors 2019, 19, 928. https://doi.org/10.3390/s19040928

AMA Style

Sferrazza C, D’Andrea R. Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor. Sensors. 2019; 19(4):928. https://doi.org/10.3390/s19040928

Chicago/Turabian Style

Sferrazza, Carmelo, and Raffaello D’Andrea. 2019. "Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor" Sensors 19, no. 4: 928. https://doi.org/10.3390/s19040928

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