This paper describes a development of tactile sensor with a high compliant sensing surface on a robot hand. A method of discrimination for a local surface shape of an object is represented with the differetial geometry for tactile images which are detected by tactual sensing.
The tactile sensor has the function of obtaining a displacement distribution and a force distribution as tac-tile patterns. These distributions are taken as its pattern induced on the high compliant sensing mechanism by a CCD camera.
A method for descriminating these patterns corresponding to the object's surface shape is given by using a method of the differetial geometry. Gaussian curvature and mean curvature of a curved object's surface are given from the first and second fundamental forms in the differetial geometry. Experimental results for estimating the radius of curvature of object's surfaces verify the effectiveness of the proposed methods.
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