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Design and Characterization of a Plug-in Device for Tactile Sensing

Although the most of the functions of the human upper body can be performed by robotic technologies which are already developed, the hand and finger functions cannot be achieved by artificial alternatives, particularly concerning the dexterous manipulation. One of the reasons is the lack of tactile sensors like the ones observed in the human fingertip. The purpose of this paper is to design a vision-based tactile sensor with the size of a fingertip, and valuated it under several conditions of contact. The resolution performance of the developed vision-based sensor for measuring contact force and contact moment is shown based on preliminary experiments. Moreover, the results of these experiments show the potential of the proposed sensor for evaluating adhesive surfaces.