Abstract
Abstract In order to carry out dexterous works such as works in medical welfare and a disaster site, the tactile sense is one of important senses for a robot. There are two essential characteristics such as impact force and environment resistances, which are considered as necessary aspects for a practical use of tactile sensor. Moreover, simultaneous detection of contact force and slippage is also demanded to realize the dexterous operation. In this laboratory, we have devised three-axis tactile sensors applying optical waveguide plate, in which we are able to detect normal force as well as slippage simultaneously. While the sensor fulfills the requirement of detection ability, the abovementioned aspects for practical use are not always satisfied. In this study, we have devised newly designed three-axis tactile sensor system applying optical waveguide dome using with CMOS camera to realize the aspects through a box shaped structure, which has robustness against the impact force.
