3210 Three-axial force detection based on optical flow in optical tactile sensors

Three-axis tactile sensing has good advantages on grasping an object of unknown mass and hardness. We developed a new three-axis tactile sensor, which possesses a simple structure to endure large applied force caused by power grasp. Normal force distribution is measured according to gray scale value obtained by image data processing as previous three-axis tactile sensors. Shearing force distribution is determined by linear movement of image data calculated by optical flow. Sensing characteristics of the present sensor is dominated by configuration and material of conical feelers formed on a silicon rubber sheet. By mean of New SUBARU, we obtain a mold of the silicon rubber sheet In evaluation experiments, we applied vertical force and horizontal force to the sensor. We confirmed sensing ability of the present sensor to acquire normal and tangential forces.