2018/09/30 by Patrick Lancaster, J. R. Smith, Lancaster, Patrick E. +3 · 1 citation
Chemical Engineering · Engineering · Physics and Astronomy · #Advanced Optical Sensing Technologies #Advanced Sensor and Energy Harvesting Materials #Analytical Chemistry and Sensors #FOS: Computer and information sciences #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1810.00485
openalex publication_date 2018/09/30 · openalex created_date 2022/08/02 · openalex updated_date 2026/07/28
We describe a single fingertip-mounted sensing system for robot manipulation\nthat provides proximity (pre-touch), contact detection (touch), and force\nsensing (post-touch). The sensor system consists of optical time-of-flight\nrange measurement modules covered in a clear elastomer. Because the elastomer\nis clear, the sensor can detect and range nearby objects, as well as measure\ndeformations caused by objects that are in contact with the sensor and thereby\nestimate the applied force. We examine how this sensor design can be improved\nwith respect to invariance to object reflectivity, signal-to-noise ratio, and\ncontinuous operation when switching between the distance and force measurement\nregimes. By harnessing time-of-flight technology and optimizing the\nelastomer-air boundary to control the emitted light's path, we develop a sensor\nthat is able to seamlessly transition between measuring distances of up to 50mm\nand contact forces of up to 10 newtons. Furthermore, we provide all hardware\ndesign files and software sources, and offer thorough instructions on how to\nmanufacture the sensor from inexpensive, commercially available components.\n