SATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear
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arXiv
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| Hauptverfasser: | , , , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866916112148463616 |
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| author | Song, Ziwu Yu, Ran Zhang, Xuan Sou, Kit Wa Mu, Shilong Peng, Dengfeng Zhang, Xiao-Ping Ding, Wenbo |
| author_facet | Song, Ziwu Yu, Ran Zhang, Xuan Sou, Kit Wa Mu, Shilong Peng, Dengfeng Zhang, Xiao-Ping Ding, Wenbo |
| contents | Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tactile perception, temperature sensing can help robots better interact with the environment. In this work, we propose a novel multimodal vision-based tactile sensor, SATac, which can simultaneously perceive information of temperature, pressure, and shear. SATac utilizes thermoluminescence of strontium aluminate (SA) to sense a wide range of temperatures with exceptional resolution. Additionally, the pressure and shear can also be perceived by analyzing Voronoi diagram. A series of experiments are conducted to verify the performance of our proposed sensor. We also discuss the possible application scenarios and demonstrate how SATac could benefit robot perception capabilities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_00585 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | SATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear Song, Ziwu Yu, Ran Zhang, Xuan Sou, Kit Wa Mu, Shilong Peng, Dengfeng Zhang, Xiao-Ping Ding, Wenbo Robotics Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tactile perception, temperature sensing can help robots better interact with the environment. In this work, we propose a novel multimodal vision-based tactile sensor, SATac, which can simultaneously perceive information of temperature, pressure, and shear. SATac utilizes thermoluminescence of strontium aluminate (SA) to sense a wide range of temperatures with exceptional resolution. Additionally, the pressure and shear can also be perceived by analyzing Voronoi diagram. A series of experiments are conducted to verify the performance of our proposed sensor. We also discuss the possible application scenarios and demonstrate how SATac could benefit robot perception capabilities. |
| title | SATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.00585 |