Tactile Differentiator

This paper proposes the Tactile Differentiator that can enhance the edge of polygonal surface through tracing motion. It is composed of a flexible beam anchored at the base with a moment sensor, and an actuator for moving the whole system. When the beam tip passes over the edge where two different planes are intersected with an arbitrary angle, the Tactile Differentiator provides a step change of output, as if it were just like a differentiator. The edge enhancement factor of sensor is introduced with the shape of beam, the intersection angle of environment, and the contact friction. By using the factor, the design orientation of the sensor is discussed. Experimental results are also shown to verify the basic idea

Frequency Discriminated Plural Whisker Sensor

This paper discusses the whisker sensor that can detect the surface features through a tracing motion. The sensor is composed of plural number of flexible beams with different natural frequencies, an adapter with strain gauge for each whisker, and an actuator for moving all of them. The mechanical vibration coming from the surface irregularities are picked up by each whisker and then converted into electrical signals through strain gauges. From the viewpoint of reducing the signal lines and cost, we feed all signals into one amplifier by connecting each strain gauge serially in the gauge box. Through the analysis of power spectrum, we estimate where the vibration comes from and how much irregularity is. We show the basic working principle of the sensor and experimental results to verify the idea