Currently, traditional tactile sensors based on the principles of capacitance or piezoelectricity have complex structures and difficulty in obtaining tactile information. A vision-based tactile sensor is introduced wh...
详细信息
Currently, traditional tactile sensors based on the principles of capacitance or piezoelectricity have complex structures and difficulty in obtaining tactile information. A vision-based tactile sensor is introduced which can realize visual measurement of three-dimensional displacement in this paper. The vision-based tactile sensor is mainly composed of an elastomer embedded with marker point array, a transparent acrylic plate, 8 LED lights and a micro monocular camera. The elastomer deforms when the tactile sensor contacts an object, and the micro monocular camera is used to capture the elastomer deformation and transmit it to the computer in the form of image, and then the three-dimensional displacement information is obtained by processing the image. In order to more accurately recover the missing dimensional information in the three-dimensional displacement detection of monocular camera, an improveddfd (Depth from Defocus) method based on finite element theory is proposed in this paper. It is verified by experiments that the improved dfd method proposed in this paper can measure the three-dimensional displacement information more accurately compared with the dfdmethod. In addition, an experiment is conducted to prove the robustness of the improved dfd method on the robotic gripper. The experimental results demonstrate that the three-dimensional displacement measurement method proposed in this paper can provide technical support for the design and development of vision-based tactile sensors.
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