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Towards the Development of Tactile Sensors for Surface Texture Detection

Authors:
Moritz Scharff
Carsten Behn
Joachim Steigenberger
Jorge Alencastre

Keywords: Surface detection; vibrissae; friction; mechanical contact; beam; taper

Abstract:
Adapting the principle of natural vibrissae, artificial tactile sensors are designed to fulfill the functions: object distance detection, object shape recognition and surface texture scanning. To realize the process of surface texture detection with an artificial sensor, firstly a theoretical approach is done. Replacing the natural vibrissa by an Euler-Bernoulli bending beam and modeling the vibrissa-surface contact with respect to Coulomb’s Law of Friction, a quasi-static scenario is performed. In this, the support of the vibrissa moves in a way that the tip of the beam gets pushed. Starting the movement of the support, the tip of the beam is sticking to the surface until the maximal stiction force is reached. It follows a period of sliding and after this a period of stiction again. In dependence on the shape of the beam, the relation between the quasi-static movement and the present coefficient of static friction is analyzed.

Pages: 33 to 38

Copyright: Copyright (c) IARIA, 2016

Publication date: November 13, 2016

Published in: conference

ISSN: 2308-4065

ISBN: 978-1-61208-518-0

Location: Barcelona, Spain

Dates: from November 13, 2016 to November 17, 2016