Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors
CoRR(2024)
摘要
Vision-based tactile sensors have recently become popular due to their
combination of low cost, very high spatial resolution, and ease of integration
using widely available miniature cameras. The associated field of
view and focal length, however, are difficult to package in a human-sized
finger. In this paper we employ optical fiber bundles to achieve a form factor
that, at 15 mm diameter, is smaller than an average human fingertip. The
electronics and camera are also located remotely, further reducing package
size. The sensor achieves a spatial resolution of 0.22 mm and a minimum force
resolution 5 mN for normal and shear contact forces. With these attributes, the
DIGIT Pinki sensor is suitable for applications such as robotic and
teleoperated digital palpation. We demonstrate its utility for palpation of the
prostate gland and show that it can achieve clinically relevant discrimination
of prostate stiffness for phantom and ex vivo tissue.
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