A Sensing Technique for the Measurement of Tactile Forces in the Gripping of Dough-Like Materials

This paper describes a tactile sensing technique that is devised for applications concerned with the control of the active gripping of deformable compact shaped non-rigid materials. The sensor uses measurements of thin aluminium plate deformation to determine a close representation of the force distribution applied to the surface of the workpiece and can be used to indicate deformation and slip of soft materials under the action of gripping forces. Two methods of operation are described along with the results of each of these implementations. The first method utilizes a model of the sensor mechanical structure to interpret the sensory data from the deformed shape created by the applied force of the object on the sensor surface. The second method relies on an algorithm for comparing theoretical and measured bending moments to achieve the force distribution that provides close agreement between these two entities. In this case the theoretical moment is adjusted by manipulation of the parameters used in the expression describing the force distribution.

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