Application of High-Photoelasticity Polyurethane to Tactile Sensor for Robot Hands.
Polymers (Basel) 2022;
14:polym14235057. [PMID:
36501451 PMCID:
PMC9738735 DOI:
10.3390/polym14235057]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/13/2022] [Revised: 11/18/2022] [Accepted: 11/18/2022] [Indexed: 11/23/2022] Open
Abstract
We developed a tactile sensor for robot hands that can measure normal force (FZ) and tangential forces (FX and FY) using photoelasticity. This tactile sensor has three photodiodes and three light-emitting diode (LED) white light sources. The sensor is composed of multiple elastic materials, including a highly photoelastic polyurethane sheet, and the sensor can detect both normal and tangential forces through the deformation, ben sding, twisting, and extension of the elastic materials. The force detection utilizes the light scattering resulting from birefringence.
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