光ファイバーバンドルを用いた視覚ベース触覚センサの小型化
Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors
光ファイバーバンドルを利用して、人間の指先より小さい直径15mmの視覚ベース触覚センサを開発し、前立腺の硬さを臨床的に識別できることを示した。
著者: Julia Di, Zdravko Dugonjic, Will Fu, Tingfan Wu, Romeo Mercado, Kevin Sawyer, Victoria Rose Most, Gregg Kammerer, Stefanie Speidel, Richard E. Fan, Geoffrey Sonn, Mark R. Cutkosky, Mike Lambeta, Roberto Calandra
分類: cs.RO
原文アブストラクト
Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniature cameras. The associated field of view and focal length, however, are difficult to package in a human-sized finger. In this paper we employ optical fiber bundles to achieve a form factor that, at 15 mm diameter, is smaller than an average human fingertip. The electronics and camera are also located remotely, further reducing package size. The sensor achieves a spatial resolution of 0.22 mm and a minimum force resolution 5 mN for normal and shear contact forces. With these attributes, the DIGIT Pinki sensor is suitable for applications such as robotic and teleoperated digital palpation. We demonstrate its utility for palpation of the prostate gland and show that it can achieve clinically relevant discrimination of prostate stiffness for phantom and ex vivo tissue.
