Multimodal Sensing by a Vision-Based Tactile Sensor Using a Deformable Touchpad

We introduce the vision-based tactile sensor, which can acquire multimodal tactile information including the contact force, slippage, shape, the contact region, and the location of an object. The sensor consists of a charge-coupled device (CCD) camera with red-green-blue channels, LED lights, a transparent acrylic plate, and a deformable touchpad. Since the touchpad is deformed by contact with the object, the analysis of the deformation yields tactile information, where we successfully use the image of the inside of the deformed touchpad captured by the CCD camera. The validation of the proposed method is confirmed through experimental results.

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