Three-axis Tactile Sensor for Tactile Record and Playback Systems

Abstract

We are producing a tactile record and playback system to record and playback movements and manipulations of artisans and professionals even after their deaths. In this paper, we will report a three-axis tactile sensor, which is one of the tactile record and playback system’s key parts. The tactile sensor’s sensing principle is based on the light reflection occurring contact between a rubber sheet and an acrylic board. We introduce mathematical models to estimate three-axis force using brightness and centroid of bright area. As the results of loading tests, these models can estimate the three-axis force.