elastostatic contact
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Elastostatic contact imaging for a mechanoreceptive tactile device

Robotica ◽  
1993 ◽  
Vol 11 (4) ◽  
pp. 329-337 ◽  
Author(s):  
M. Mehdian ◽  
P.M. Johns-Rahnejat ◽  
H. Rahnejat
Keyword(s):  
Image Processing ◽  
Three Dimensional ◽  
Processing Algorithm ◽  
Tactile Sensing ◽  
Image Processing Algorithm ◽  
Contact Information ◽  
Three Dimensional Images ◽  
Contact Imaging ◽  
Gripping Force ◽  
Elastostatic Contact

SUMMARYThis paper presents a sensory gripper, consisting of two tactile sensing matrices which acquire three dimensional images of objects of interest. The image processing algorithm uses elastostatic contact information to discriminate among a host of parts made of different materials. The algorithm also enables the assessment of orientation of parts without the pre-requisite of having to recognise them. The positions of stable holdsites and a safe gripping force are also evaluated.

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