Subtle Vibration Sensing and Dimension Measurement with a Bio-inspired Optical Tactile Sensor

摘要

Touch plays an irreplaceable role in our daily life, so as to robotics. Currently, various tactile sensors for robotics have been designed to achieve many perception objectives, and these tactile sensors often perform well in many practical situations. However, with the development of robotics and the increasing diversity of applications, robots are required to have more elaborate motion and perceptual feedback; thus tactile sensors of robotics are needed to be more sensitive to small external signals. In this paper, based on the bioinspired optical tactile sensor we design before, we tested the accuracy and stability of measuring small structures by applying a machine learning method. Besides, based on video magnification technique, we developed a method for optical tactile sensor and succeeded to extract the frequency of tiny vibrations.