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In this work, we present a novel tactile sensor designed to detect shear strain using a camera-based optical system. The sensor operates by capturing images of a specially patterned silicone elastomer and reconstructing the contact surface’s mechanical deformation using B-spline surfaces. We provide preliminary characterization of the sensor, including its force response, shear strain estimation accuracy, and demonstrate its use-case example of seven shape recognition task. To evaluate its robustness, we subjected the outermost layer to repeated tearing, confirming the sensor’s durability. Additionally, the entire system is low-cost and easily fabricated using 3D-printed components and off-the-shelf materials, making it accessible for a wide range of robotics applications.

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A Durable Optical Tactile Sensor for Applications in Walking Robots

  • 会议论文

  • 发表日期：

    2025年

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  • Daryn Kenzhebek,
  • Madina Yergibay,
  • Amir Yelenov,
  • Tleukhan Mussin,
  • Saltanat Seitzhan,
  • Temirlan Kaiyrbay,
  • Zaki Al-Farabi,
  • Tasbolat Taunyazov,
  • Zhanat Kappassov,
  • Iliyas Tursynbek

摘要

In this work, we present a novel tactile sensor designed to detect shear strain using a camera-based optical system. The sensor operates by capturing images of a specially patterned silicone elastomer and reconstructing the contact surface’s mechanical deformation using B-spline surfaces. We provide preliminary characterization of the sensor, including its force response, shear strain estimation accuracy, and demonstrate its use-case example of seven shape recognition task. To evaluate its robustness, we subjected the outermost layer to repeated tearing, confirming the sensor’s durability. Additionally, the entire system is low-cost and easily fabricated using 3D-printed components and off-the-shelf materials, making it accessible for a wide range of robotics applications.