The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 2P2-F23
Conference information
2P2-F23 Tactile Sensing with Fluid for Measuring Surface Characteristics of Soft Objects
Yoshihiro TANAKARyohei SUGIMURAAkihito SANOHideo FUJIMOTO
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
This paper presents the development of an active tactile sensor using fluid. Measurement of stiffness and surface conditions, such as sliminess, smoothness, and others, of soft objects is discussed. This sensor is made of a silicone balloon catheter. The balloon is contacted with a soft object and expanded by using fluid. In the process of the expansion, the balloon pushes the object and the contact surface of the balloon slips or sticks. These phenomena depend on stiffness and surface conditions of the object. The expansion can be evaluated by measuring the flow of the fluid. The balloon that is the sensing element is very soft and flexible and does not need electricity. This sensor is available as a medical sensor since it provides safety for human. Experimental results on various measurement conditions support the validity of the proposed sensor.
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© 2008 The Japan Society of Mechanical Engineers
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