Papers Published

1. Chen, Zhenhai and Wilson, James F., Shape perception using tactile probes, American Society of Mechanical Engineers, Aerospace Division (Publication) AD, vol. 24 (1991), pp. 41 - 47 .
   (last updated on 2007/04/09)

   Abstract:
   This paper presents a tactile probe sensor system capable of three- dimensional shape perception. The probe itself is a cantilevered spring steel wire with two strain gages affixed to it near the base, 90 degrees apart on the circumference. With its support system, the probe senses the magnitude and direction of a force applied at its tip. The support system consists of a base sweep mechanism, electronic circuits, a pneumatic control module, a computer interface and control software. An experimental prototype is used to demonstrate system accuracy and sensitivity in using probe force information to display the outlines of several solid objects. This system may be used in a variety of applications including object and void detection and in obstacle avoidance to assist a mobile robot in traversing its environment.

   Keywords:
   Sensors--Computer Applications;Strain Gages--Applications;Probes--Calibration;