Implications of solid mechanics for tactile feedback in teleoperation

S. Laurie Ricker; Randy Evan Ellis

doi:10.1117/12.142110

26 March 1993 Implications of solid mechanics for tactile feedback in teleoperation

S. Laurie Ricker, Randy Evan Ellis

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142110
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

Our recent work indicates that normal strain data generally provides insufficient information for reconstructing object geometry. For some classes of tactile tasks, the problem of object recognition is both underdetermined and, even if fully determined by the addition of shear data, is not stably invertible. Using both traditional theoretical analysis and finite-element methods to study the solid mechanics of a contact, a series of geometric indentors are applied to a tactile sensor model. In underdetermined cases, adding tangential (shear) components to the normal components of the sensed strains may allow discrimination of fine-form geometries. This indicates that in providing tactile displays to a human operator, both tangential and normal forces or displacements should be considered.

Citation Download Citation

S. Laurie Ricker and Randy Evan Ellis "Implications of solid mechanics for tactile feedback in teleoperation", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142110

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