A Thin Format Vision-Based Tactile Sensor with A Micro Lens Array (MLA)
- URL: http://arxiv.org/abs/2204.08691v1
- Date: Tue, 19 Apr 2022 06:17:49 GMT
- Title: A Thin Format Vision-Based Tactile Sensor with A Micro Lens Array (MLA)
- Authors: Xia Chen, Guanlan Zhang, Michael Yu Wang, Hongyu Yu
- Abstract summary: Vision-based tactile sensors have been widely studied in the robotics field for high spatial resolution and compatibility with machine learning algorithms.
Here we present a micro lens array (MLA) based vison system to achieve a low thickness format of the sensor package with high tactile sensing performance.
- Score: 9.035821470132733
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Vision-based tactile sensors have been widely studied in the robotics field
for high spatial resolution and compatibility with machine learning algorithms.
However, the currently employed sensor's imaging system is bulky limiting its
further application. Here we present a micro lens array (MLA) based vison
system to achieve a low thickness format of the sensor package with high
tactile sensing performance. Multiple micromachined micro lens units cover the
whole elastic touching layer and provide a stitched clear tactile image,
enabling high spatial resolution with a thin thickness of 5 mm. The thermal
reflow and soft lithography method ensure the uniform spherical profile and
smooth surface of micro lens. Both optical and mechanical characterization
demonstrated the sensor's stable imaging and excellent tactile sensing,
enabling precise 3D tactile information, such as displacement mapping and force
distribution with an ultra compact-thin structure.
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