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PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect

The sense of touch is fundamental for a one-to-one mapping between the environment and a robot that physically interacts with the environment. Herein, we describe a tactile fingertip design that can robustly detect interaction forces given data collected from a camera. This design is based on the ph...

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Autores principales: Mukashev, Dinmukhammed, Zhuzbay, Nurdaulet, Koshkinbayeva, Ainur, Orazbayev, Bakhtiyar, Kappassov, Zhanat
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9503177/
https://www.ncbi.nlm.nih.gov/pubmed/36146164
http://dx.doi.org/10.3390/s22186807
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author Mukashev, Dinmukhammed
Zhuzbay, Nurdaulet
Koshkinbayeva, Ainur
Orazbayev, Bakhtiyar
Kappassov, Zhanat
author_facet Mukashev, Dinmukhammed
Zhuzbay, Nurdaulet
Koshkinbayeva, Ainur
Orazbayev, Bakhtiyar
Kappassov, Zhanat
author_sort Mukashev, Dinmukhammed
collection PubMed
description The sense of touch is fundamental for a one-to-one mapping between the environment and a robot that physically interacts with the environment. Herein, we describe a tactile fingertip design that can robustly detect interaction forces given data collected from a camera. This design is based on the photoelastic effect observed in silicone matter. Under the force applied to the silicone rubber, owing to the stress-induced birefringence, the light propagating within the silicone rubber is subjected to the angular phase shift, where the latter is proportional to the increase in the image brightness in the camera frames. We present the calibration and test results of the photoelastic sensor design on a bench using a robot arm and with a certified industrial force torque sensor. We also discuss the applications of this sensor design and its potential relationship with human mechano-transduction receptors. We achieved a force sensing range of up to 8 N with a force resolution of around 0.5 N. The photoelastic tactile fingertip is suitable for robot grasping and might lead to further progress in robust tactile sensing.
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spelling pubmed-95031772022-09-24 PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect Mukashev, Dinmukhammed Zhuzbay, Nurdaulet Koshkinbayeva, Ainur Orazbayev, Bakhtiyar Kappassov, Zhanat Sensors (Basel) Article The sense of touch is fundamental for a one-to-one mapping between the environment and a robot that physically interacts with the environment. Herein, we describe a tactile fingertip design that can robustly detect interaction forces given data collected from a camera. This design is based on the photoelastic effect observed in silicone matter. Under the force applied to the silicone rubber, owing to the stress-induced birefringence, the light propagating within the silicone rubber is subjected to the angular phase shift, where the latter is proportional to the increase in the image brightness in the camera frames. We present the calibration and test results of the photoelastic sensor design on a bench using a robot arm and with a certified industrial force torque sensor. We also discuss the applications of this sensor design and its potential relationship with human mechano-transduction receptors. We achieved a force sensing range of up to 8 N with a force resolution of around 0.5 N. The photoelastic tactile fingertip is suitable for robot grasping and might lead to further progress in robust tactile sensing. MDPI 2022-09-08 /pmc/articles/PMC9503177/ /pubmed/36146164 http://dx.doi.org/10.3390/s22186807 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Mukashev, Dinmukhammed
Zhuzbay, Nurdaulet
Koshkinbayeva, Ainur
Orazbayev, Bakhtiyar
Kappassov, Zhanat
PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect
title PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect
title_full PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect
title_fullStr PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect
title_full_unstemmed PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect
title_short PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect
title_sort photoelasticfinger: robot tactile fingertip based on photoelastic effect
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9503177/
https://www.ncbi.nlm.nih.gov/pubmed/36146164
http://dx.doi.org/10.3390/s22186807
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