An Endoscopic and Robotic Tooth-like Compliance and Roughness Tactile Sensor-Reference-Cited by-同舟云学术

An Endoscopic and Robotic Tooth-like Compliance and Roughness Tactile Sensor

Published:2002-08-06 Issue:3 Volume:124 Page:576-582
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Dargahi J.¹

Affiliation:

1. Mechanical and Industrial Engineering Department, University of Concordia, 1455 de Maisonneve Blvd. West. Montreal, Quebec Canada H3G 1M8

Abstract

This paper reports on design, fabrication and testing of a prototype Polyvinylidene Fluoride (PVDF) tactile sensor for endoscopic and robotic applications. The sensor can measure both compliance and surface roughness. It consists of rigid and compliant elements. A relative deformation between adjacent parts of the contact object is used to measure the compliance, and the deformation of the compliant element of the sensor is used to measure the profile of a rough surface. The sensor in miniaturized form can be integrated with both endoscopic graspers and robotic end effectors. The theoretical analysis of the sensor is made and compared with experimental values. The advantages and limitations of the sensor are also discussed.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/124/3/576/5654604/574_1.pdf

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