A Novel Vision-Based Tactile Sensor Using Particle Image Velocimetry for Multi-Modal Object Detection and Force Sensing

摘要

Precisely retrieving tactile information like force, morphology and height etc. has been considered as a paramount basis for the dexterous operation of robots. Inspired by a popular scientific analysis tool applied in fluid mechanics and movements, this paper initially migrates Particle Image Velocimetry (PIV) to the fields of vision-based tactile sensor, which consists of elastic sensing structure by micro-nano processing technology. High-resolution shape reconstruction and height evaluation have been conducted by this compact integrated system and a linear force response has been experimentally proved to utilize in the further robotic tactile perception and biomedical scenarios.