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The Miniaturization of Vision-Based Tactile Sensor : = Design, Fabrication and Robotic Applications.

Record Type:	Electronic resources : Monograph/item
Title/Author:	The Miniaturization of Vision-Based Tactile Sensor :/
Reminder of title:	Design, Fabrication and Robotic Applications.
Author:	Chen, Xia.
Description:	1 online resource (126 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 84-11, Section: A.
Contained By:	Dissertations Abstracts International84-11A.
Subject:	Strain gauges. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30395947click for full text (PQDT)
ISBN:	9798379470883

The Miniaturization of Vision-Based Tactile Sensor : = Design, Fabrication and Robotic Applications.
Chen, Xia.

The Miniaturization of Vision-Based Tactile Sensor :Design, Fabrication and Robotic Applications. - 1 online resource (126 pages)

Source: Dissertations Abstracts International, Volume: 84-11, Section: A.

Thesis (Ph.D.)--Hong Kong University of Science and Technology (Hong Kong), 2022.

Includes bibliographical references

Tactile sensing feedback has been an essential requirement in human-machine interaction (HMI) or advanced robot interaction fields; one of the urgent needs is the application of artificial tactile sensing on robotic grippers with high perception ability. The vision-based tactile sensor has been popular among the various tactile sensors for its high spatial resolution and compatibility with imaging processing algorithms. In particular, the objective of this thesis, a miniaturized vision-based tactile sensor is supposed to be applied to the HMI and robot interaction fields.This thesis mainly focuses on developing the miniaturized vision-based tactile sensor using microfabrication technology. A unified design principle with optical modeling and simulation was proposed to comprehensively understand the miniaturized vision-based tactile sensors. The pinhole array-based and micro lens array-based sensors are proposed with their design, fabrication, integration, and characterization.The pinhole imaging based sensor enables 1016 dot per inch (dpi) spatial resolution of deformation, superior accuracy of 3-dimensional force measurement at levels of 0.018 N for tangential force and 0.213 N (0.108 N at the center region) for normal force, and real-time processing at 30 Hz, while achieving a thin size of 5 mm. In grasping experiments, the sensor demonstrates 3D force feedback and slip detection.Furthermore, we present a microlens array (MLA) enhanced sensor to achieve high imaging quality. The thermal reflow and soft lithography ensure the uniform spherical profile and smooth surface of micro lenses. Both optical and mechanical characterization demonstrated the sensor's stable imaging and excellent tactile sensing, enabling precise 3D tactile information, such as force distribution. The comparison between the two imaging systems is also carried out. These devices pave the way for robotic applications that require rich tactile information with a miniaturized sensor structure.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798379470883Subjects--Topical Terms:

3563166
Strain gauges.
Index Terms--Genre/Form:

542853
Electronic books.

The Miniaturization of Vision-Based Tactile Sensor : = Design, Fabrication and Robotic Applications.
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500 $a Source: Dissertations Abstracts International, Volume: 84-11, Section: A.
500 $a Advisor: Yu, Hongyu.
502 $a Thesis (Ph.D.)--Hong Kong University of Science and Technology (Hong Kong), 2022.
504 $a Includes bibliographical references
520 $a Tactile sensing feedback has been an essential requirement in human-machine interaction (HMI) or advanced robot interaction fields; one of the urgent needs is the application of artificial tactile sensing on robotic grippers with high perception ability. The vision-based tactile sensor has been popular among the various tactile sensors for its high spatial resolution and compatibility with imaging processing algorithms. In particular, the objective of this thesis, a miniaturized vision-based tactile sensor is supposed to be applied to the HMI and robot interaction fields.This thesis mainly focuses on developing the miniaturized vision-based tactile sensor using microfabrication technology. A unified design principle with optical modeling and simulation was proposed to comprehensively understand the miniaturized vision-based tactile sensors. The pinhole array-based and micro lens array-based sensors are proposed with their design, fabrication, integration, and characterization.The pinhole imaging based sensor enables 1016 dot per inch (dpi) spatial resolution of deformation, superior accuracy of 3-dimensional force measurement at levels of 0.018 N for tangential force and 0.213 N (0.108 N at the center region) for normal force, and real-time processing at 30 Hz, while achieving a thin size of 5 mm. In grasping experiments, the sensor demonstrates 3D force feedback and slip detection.Furthermore, we present a microlens array (MLA) enhanced sensor to achieve high imaging quality. The thermal reflow and soft lithography ensure the uniform spherical profile and smooth surface of micro lenses. Both optical and mechanical characterization demonstrated the sensor's stable imaging and excellent tactile sensing, enabling precise 3D tactile information, such as force distribution. The comparison between the two imaging systems is also carried out. These devices pave the way for robotic applications that require rich tactile information with a miniaturized sensor structure.
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