Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali

Research on tactile sensors is expanding due to the need for autonomous dexterous robotic gripper to perform various tasks that need manipulation skills in medical operation, humanoid robots, household work as well as space exploration. These applications need a tactile sensor that can react to the...

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Bibliographic Details
Main Author:	Ali, Bakri
Format:	Thesis
Language:	English
Published:	2019
Subjects:	Mechanical movements Robotics. Robots. Manipulators (Mechanism)
Online Access:	http://ir.uitm.edu.my/id/eprint/28287/ http://ir.uitm.edu.my/id/eprint/28287/1/28287.pdf

id	uitm-28287
recordtype	eprints
spelling	uitm-282872020-02-12T06:43:36Z http://ir.uitm.edu.my/id/eprint/28287/ Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali Ali, Bakri Mechanical movements Robotics. Robots. Manipulators (Mechanism) Research on tactile sensors is expanding due to the need for autonomous dexterous robotic gripper to perform various tasks that need manipulation skills in medical operation, humanoid robots, household work as well as space exploration. These applications need a tactile sensor that can react to the variable force or pressure similar to human tactile sensing capability. To date, several researchers have explored several materials for tactile sensors ranging from the semiconductor based materials to silicon based rubber materials. This research is focused on the development and analysis of a spherical silicone tactile sensor based on a deformation image to measure the surface traction kinetics. A spherical tactile sensor was formed from a silicon rubber. It was marked with a circular mark inside the spherical dome to show changes in the diameter and shifts of the centroid. The tactile sensor was subjected to various normal and shear forces, and the circular mark image was recorded using an optical camera probe. The deformation image was digitized using a CCD camera and analysed using several digital image processing techniques such as image conversion from color to grayscale image, thresholding and boundary detection. The final image was then analysed to find the changes in the diameter and the shifts of the centroid, which were related to the normal and shear forces applied to the tactile sensor in x-axis, y-axis and z-axis. The results were tabulated and plotted in several graphs. The graphs showed that there was a significant correlation between the deformation image and the applied forces. This newly developed tactile sensor was proven to have a stiffness (kt) of 0.7238 N/mm and also to be able to detect the stiffness of the soft workpiece used in this research which was kw=0.156 N/mm. To conclude, the sensor can distinguish between hard and soft surfaces as well as between rough and smooth surfaces. 2019 Thesis NonPeerReviewed text en http://ir.uitm.edu.my/id/eprint/28287/1/28287.pdf Ali, Bakri (2019) Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali. PhD thesis, Universiti Teknologi MARA.
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Teknologi MARA
building	UiTM Institutional Repository
collection	Online Access
language	English
topic	Mechanical movements Robotics. Robots. Manipulators (Mechanism)
spellingShingle	Mechanical movements Robotics. Robots. Manipulators (Mechanism) Ali, Bakri Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali
description	Research on tactile sensors is expanding due to the need for autonomous dexterous robotic gripper to perform various tasks that need manipulation skills in medical operation, humanoid robots, household work as well as space exploration. These applications need a tactile sensor that can react to the variable force or pressure similar to human tactile sensing capability. To date, several researchers have explored several materials for tactile sensors ranging from the semiconductor based materials to silicon based rubber materials. This research is focused on the development and analysis of a spherical silicone tactile sensor based on a deformation image to measure the surface traction kinetics. A spherical tactile sensor was formed from a silicon rubber. It was marked with a circular mark inside the spherical dome to show changes in the diameter and shifts of the centroid. The tactile sensor was subjected to various normal and shear forces, and the circular mark image was recorded using an optical camera probe. The deformation image was digitized using a CCD camera and analysed using several digital image processing techniques such as image conversion from color to grayscale image, thresholding and boundary detection. The final image was then analysed to find the changes in the diameter and the shifts of the centroid, which were related to the normal and shear forces applied to the tactile sensor in x-axis, y-axis and z-axis. The results were tabulated and plotted in several graphs. The graphs showed that there was a significant correlation between the deformation image and the applied forces. This newly developed tactile sensor was proven to have a stiffness (kt) of 0.7238 N/mm and also to be able to detect the stiffness of the soft workpiece used in this research which was kw=0.156 N/mm. To conclude, the sensor can distinguish between hard and soft surfaces as well as between rough and smooth surfaces.
format	Thesis
author	Ali, Bakri
author_facet	Ali, Bakri
author_sort	Ali, Bakri
title	Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali
title_short	Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali
title_full	Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali
title_fullStr	Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali
title_full_unstemmed	Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali
title_sort	development and analysis of optical-based tactile sensor for measuring surface traction kinetics / bakri ali
publishDate	2019
url	http://ir.uitm.edu.my/id/eprint/28287/ http://ir.uitm.edu.my/id/eprint/28287/1/28287.pdf
first_indexed	2023-09-18T23:19:57Z
last_indexed	2023-09-18T23:19:57Z
_version_	1777419365037113344

Development and analysis of optical-based tactile sensor for measuring surface traction kinetics / Bakri Ali

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