The Third Generation (G3) Dual-Modal and Dual Sensing Mechanisms (DMDSM) Pretouch Sensor for Robotic Grasping
Cheng Fang,Shuangliang Li,Di Wang,Fengzhi Guo,Dezhen Song,Jun Zou,Cheng Fang,Shuangliang Li,Di Wang,Fengzhi Guo,Dezhen Song,Jun Zou
Fingertip-mounted pretouch sensors are very useful for robotic grasping. In this paper, we report a new (G3) dual-modal and dual sensing mechanisms (DMDSM) pretouch sensor for near-distance ranging and material sensing, which is based on pulse-echo ultrasound (US) and optoacoustics (OA). Different from previously reported versions, the G3 sensor utilizes a self-focused US/OA transceiver, thereby e...
