2A2-A02 A combined tactile and proximity sensing device and its application to robot hand(Tactile and Force Sensing (2))

Abstract

We propose a combined tactile and proximity sensing device for handling robot. Tactile sensing is based on the method known as a light conductive plate. Proximity information is obtained through depth measurement from compound-eye camera stereo images. These tactile and proximity information are both captured by using the compound-eye camera TOMBO(Thin Observation Module by Bound Optics). We evaluate the performance of the sensing device and verify the availability of the device in the application to robot hand.