ICRA 2011 Paper Abstract


Paper TuA212.5

Sato, Katsunari (The University of Tokyo), Shinoda, Hiroyuki (Univ. of Tokyo), Tachi, Susumu (The University of Tokyo)

Finger-Shaped Thermal Sensor Using Thermo-Sensitive Paint and Camera for Telexistence

Scheduled for presentation during the Regular Sessions "Force and Tactile Sensing" (TuA212), Tuesday, May 10, 2011, 11:05−11:20, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Force and Tactile Sensing, Haptics and Haptic Interfaces


A thermal change on a fingertip is essential for haptic perception. We have proposed a vision-based thermal sensor using thermo-sensitive paint and a CCD camera for telexistence. The thermo-sensitive paint is employed to measure thermal information on the basis of its color, which changes according to its temperature. The proposed sensor can simulate the physical interaction between a human fingertip and an object in order to measure surface thermal information correctly. Furthermore, because the proposed sensor can be easily integrated with our vision-based force sensor, a comprehensive measurement device for measuring haptic information can be realized. In this study, we constructed a prototype of the proposed thermal sensor and experimentally confirmed that this sensor could measure surface thermal information.



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