Abstract
In this paper, a touch-sensing device consisting of a passive large compliance robotic finger with internal sensors, and algorithms for using this device for recognition applications are presented. These algorithms include recognition of the two-dimensional projected outline shape and dimensions of an object, and recognition of the three-dimensional convex outline height profiles of an object. The two-dimensional outline of an object is identified by tracing the object’s outer edge with the robotic finger and returning the XY coordinates of selected outline contact points and their tangent line directions. Recognition of the three-dimensional convex outline height profiles of an object is done by observing the change of the robotic finger deflection angle while moving the finger toward the object in contact. The feasibility of the device and the algorithms developed were successfully tested for planar applications by both analytical simulations and by experiments using a simple two-degree-of-freedom inverted joystick attached to the end of a planar manipulator arm. Simplicity, low cost, and easy implementation are some of the major benefits of using the proposed touch-sensing device.