CALIBRATION OF OPTICAL SILICONE TACTILE SENSOR

Abstract

This paper presents the calibration and development of a computer algorithm to analyze the deformation behavior of the changes in the diameter of a silicone tactile sensor using an image processing technique. In addition, the scope of the work also aims to evaluate the sensor’s sensitivity. Unfortunately, the current design and the system of tactile sensor is not suitable for soft tissue characterization because the sensor system uses multiple optical waveguide transduction technique which is relatively large in diameter size, not flexible and less accurate which is lack of ‘sense of touch’. Hence, an image processing algorithm has been developed using image processing software. The results indicate significant increase in the change in the diameter images. The overall image analysis technique involves the following main stages: image acquisition (capturing of images) and image processing (thresholding, noise filtering, component labeling, and geometric properties). The use of fiber scope and as well as an effective image analysis computer algorithm will facilitate and automate the process for sensing information. This study results in finding the mathematical model of a new technique to establish the sensitivity value of the silicon tactile sensor where a higher sensitivity indicates a more sensitive sensor. The outcomes of this research shows that the functionality of the developed new image analysis computer algorithm technique is suitable to establish the sensing information on the ‘sense of touch’ such as hardness, roughness and other physical characteristics of the surfaces.