Orientation Detection of Sensed Objects using a Four Sensor Tactile System with Applications in Bio-Robotics
Ashkan Mirbagheri, Javad Dargahi, Siamak Najarian and Farhad Tabatabai Ghomshe
DOI : 10.3844/ajassp.2007.925.931
American Journal of Applied Sciences
Volume 4, Issue 11
A novel approach is presented that can be used in determining the sensitivity of a four sensor tactile sensor to the orientation of the contacted objects. Computer simulations were conducted by using a rectangular probe of 14 mm by 7 mm size and applying three magnitudes of forces, i.e., 0.5, 1, and 2 N. A bi-variate function was obtained, showing the amount of output charge against both the angle of orientation and the magnitude of the applied force. By computing the errors, the proposed model proved efficient in predicting the orientation of sensed objects with reasonable accuracy.
© 2007 Ashkan Mirbagheri, Javad Dargahi, Siamak Najarian and Farhad Tabatabai Ghomshe. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.