曲面型触覚画像センサによる生エビ接触検査

抄録

This paper describes a tactile sensor employing camera that detect whether the shrimp has the shells. The curved tactile image sensor, which is made based on the reflective membrane method, acquires the tactile information by sliding the sensor along the shrimp’s surface. This method obtains fine surface textures with high spatial resolution. Post image processing was applied to detect the shell. In order to maintain the load applied to the object, a mechanism with a vertical slider and spring was introduced. Through experiments, the proposed sensor could detect pieces of shell remained on the raw shrimp.