Abstract
It is essential for robotic tactile sensors to provide capability of shape discrimination from static touch. For this purpose, the principal curvatures and corresponding principal directions play important roles which define the local shape of the object. This paper proposes a novel acoustic tactile sensing system which identifies a set of principal curvatures and directions on the object surface by utilizing acoustic waves. The major difficulty, however, existing in estimating these parameters is that the wavefront reflected by the paraboloidal surface cannot be described in the linear combination of the plane-waves, such that the non-linearity exists between time-of-fright (TOF) and the parameters defining the surface. Avoiding the difficulties, the proposed sensing system utilizes the differences of TOFs between primary and secondary reflections.
| Original language | English |
|---|---|
| Pages (from-to) | 2057-2063 |
| Number of pages | 7 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 69 |
| Issue number | 8 |
| Publication status | Published - Aug 2003 |
| Externally published | Yes |
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Keywords
- Acoustic
- Manipulator
- Measurement
- Sensor
- Ultrasound
ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Principal curvature measurement by an acoustic tactile sensor. / Teramoto, Kenbu; Iwahori, Masachika; Watanabe, Keigo.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 69, No. 8, 08.2003, p. 2057-2063.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Principal curvature measurement by an acoustic tactile sensor
AU - Teramoto, Kenbu
AU - Iwahori, Masachika
AU - Watanabe, Keigo
PY - 2003/8
Y1 - 2003/8
N2 - It is essential for robotic tactile sensors to provide capability of shape discrimination from static touch. For this purpose, the principal curvatures and corresponding principal directions play important roles which define the local shape of the object. This paper proposes a novel acoustic tactile sensing system which identifies a set of principal curvatures and directions on the object surface by utilizing acoustic waves. The major difficulty, however, existing in estimating these parameters is that the wavefront reflected by the paraboloidal surface cannot be described in the linear combination of the plane-waves, such that the non-linearity exists between time-of-fright (TOF) and the parameters defining the surface. Avoiding the difficulties, the proposed sensing system utilizes the differences of TOFs between primary and secondary reflections.
AB - It is essential for robotic tactile sensors to provide capability of shape discrimination from static touch. For this purpose, the principal curvatures and corresponding principal directions play important roles which define the local shape of the object. This paper proposes a novel acoustic tactile sensing system which identifies a set of principal curvatures and directions on the object surface by utilizing acoustic waves. The major difficulty, however, existing in estimating these parameters is that the wavefront reflected by the paraboloidal surface cannot be described in the linear combination of the plane-waves, such that the non-linearity exists between time-of-fright (TOF) and the parameters defining the surface. Avoiding the difficulties, the proposed sensing system utilizes the differences of TOFs between primary and secondary reflections.
KW - Acoustic
KW - Manipulator
KW - Measurement
KW - Sensor
KW - Ultrasound
UR - http://www.scopus.com/inward/record.url?scp=0242336692&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0242336692&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:0242336692
VL - 69
SP - 2057
EP - 2063
JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 8
ER -