Tactile sensing using elastomeric sensors
Name
829815484-MIT.pdf
Description
Full printable version
Size
15.18 MB
Format
Adobe PDF
Checksum (MD5)
8fadab43d8cb833040452eb8bd24542b
Author(s)
Jia, Xiaodan (Xiaodan Stella)
Advisor(s)
Edward H. Adelson and Mandayam A. Srinivasan.
Date Issued
2012
Publisher
Massachusetts Institute of Technology
Abstract
GelSight, namely, elastomeric sensor, is a novel tactile sensor to get the 3D information of contacting surfaces. Using GelSight, some tactile properties, such as softness and roughness, could be gained through image processing techniques. In this thesis, I implemented GelSight principle to reconstruct surface geometry of tested surfaces, based on which, the roughness comparison and lump detection experiment are conducted. Roughness of five different types of sandpapers are successfully compared using GelSight Ra value. In the lump detection experiment, a visual display for tactile information is presented. To get binary feedback of lump presence or not, a simple threshold method is introduced in this thesis. To evaluate the performance of GelSight sensor, human psychological experiments are conducted. In similar tasks, GelSight sensor outperforms humans in lump detection.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 99-111).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
Persistent DSpace Link
