Accurate Contact Localization and Indentation Depth Prediction With an Optics-based Tactile Sensor

TL;DR

This paper introduces a low-cost, optics-based tactile sensor that uses light modulation through an elastomer to accurately determine contact location and indentation depth, offering a simpler alternative to traditional sensor arrays.

Contribution

The authors present a novel optical tactile sensor that achieves high localization and depth accuracy with a simple, adaptable design using edge-mounted optical components.

Findings

Sub-millimeter localization accuracy on a 20mm by 20mm area

High depth sensitivity through dual light-guiding modalities

Low-cost, easy-to-manufacture sensor design

Abstract

Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in fabrication and circuitry, and can be hard to adapt for non planar geometries. We propose to use low cost optic components mounted on the edges of the sensing area to measure how light traveling through an elastomer is affected by touch. Multiple light emitters and receivers provide us with a rich signal set that contains the necessary information to pinpoint both the location and depth of an indentation with high accuracy. We demonstrate sub-millimeter accuracy on location and depth on a 20mm by 20mm active sensing area. Our sensor provides high depth sensitivity as a result of two different modalities in how light is guided through our elastomer. This method results in a low cost, easy to manufacture sensor. We believe this approach can be adapted to cover non-planar surfaces, simplifying future integration in robot skin applications.