The Developmental Organization of Robot Behavior by Roderic A. Grupen;

Author:Roderic A. Grupen;
Language: eng
Format: epub
Tags: Robotics; Development; Control
Publisher: MIT Press

Optical technologies—Tactile sensors have been designed that change the intensity of an optical signal in response to contact loads. For example, a deformation caused by contact forces can be used to shutter a beam of light [60, 240]. The sensitivity and dynamic range of such a sensor can be changed by altering the mechanical properties of the sensor without altering the optical transduction. Commercial systems of this type are available [179] and have been used in tactile image research [206].

An interesting approach in the literature employs a phenomenon known as “frustrated total internal reflection” [19]. The effect is demonstrated by looking straight down into a cold glass of water on which condensation has formed. The silvery condensate reflects light—hiding objects outside the glass unless they come into contact with the glass’s surface. The more forceful the contact, the more prominent the image of the contact becomes on the otherwise silvery glass surface. A tactile sensor based on this effect is in figure 7.9.

Figure 7.9

Boie’s capacitive tactile sensor [19]

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