Fingertip-shaped optical tactile sensor for robotic applications

Abstract

Progress is described regarding the development of a high-density, fiber-optic, fingertip-shaped tactile sensor specifically designed for application to dexterous robotics. The sensor operates on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and generates a grey-scale tactile image that represents the normal forces of contact. The sensor contains 256 taxels (sensing sites) distributed in a dual-density pattern that includes a tactile fovea near the tip which measures 13 mm x 13 mm and contains 169 taxels. The details regarding the design and construction of this tactile sensor are presented, in addition to photographs of tactile imprints.