Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
We propose an optical tactile sensor that sense contact and force information so that robots can do the complicated work human beings do. This sensor is composed of an elastic body whose surface covered with reflective pigment and a camera. We attached this sensor to the finger of a robot hand, we measured the posture of gripped object in the hand and shearing force. We measured both of them by template matching. In regard to shearing force, we measured it focusing on the amount of movement of gripped object caused by deformation of an elastic body. Furthermore, we controlled a robot for a bumping work based on contact and force information.
