Tactile sensor

Abstract

A tactile sensor (10) comprises a first layer (20) formed of flexible material having an outer contact surface (21) and an opposed inner interface surface (60); a second layer (30) formed of substantially transparent flexible material arranged in substantially continuous contact with the flexible first layer (20) at the interface surface (60); the first and second layers (20), (30) configured so that pressure exerted by an object or objects contacting the outer contact surface (21) causes at least localised distortion of the interface surface (60); a camera (50) arranged to capture an image of the interface surface (60) through the flexible second layer (30); and reflective material (62) configured so that the appearance of at least part of the reflective material (62) changes as the viewing angle changes; the reflective material (62) located between the flexible first layer (20) and the second layer (30) at the interface surface (60).

Description

technical field [0001] The present invention relates to tactile sensors, and more particularly to tactile sensors for robotic end effectors such as robotic hands. Background technique [0002] In the field of robotics, it is often necessary to determine when an object has been contacted by an end effector or similar device. For example, if an object is to be picked up by an end effector at the end of a robotic arm, it is important to ensure that the object is positioned correctly relative to the end effector, and this can be determined when the end effector is in contact with the object. Similarly, when the end effector is in contact with the object, the alignment of the object with the end effector should also be determined. This sensing is especially important if the end effector is relatively delicate, such as a robotic hand. [0003] Various types of tactile sensors are known. For example, the "TacTip" sensor, developed at the Bristol Robotics Laboratory, comprises a ...

AI Technical Summary

Problems solved by technology

[0005] Although this type of sensor gives a good image of the object, it does not provide a good representation of the tangential or normal forces involved in the contact and does not allow detection and localization of small surface vibrations

Also, the sensor is prone to wear due to the metal paint being exposed and coming into contact with objects

The sensor is also quite large, and again may not be suitable for more delicate applications

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