Tactile Geometry for Images and Normals
The shape of a tactile sensor imposes constraints upon its performance. This paper discusses the geometries of currently available tactile sensors for robots, and compares them with man’s own tactile sensor, the finger. Possible alternative shapes are discussed along with the requirements for a versatile tactile sensor. Finally, a new tactile sensor is presented which appears to satisfy these requirements. Significantly, this sensor can be readily moulded to any desired geometry and degree of compliance.
KeywordsReflective Surface Sparse Data Tactile Sensor Polarise Light Stress Pattern
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