Soft touch between a highly flexible bio‐inspired tactile sensor and 3D objects

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Abstract
Scanning and reconstructing the environment using tactile sensors alongside optical sensors is a promising approach in mobile robotics. Within the present paper, we take advantage of a recently presented vibrissa‐inspired tactile sensor concept for 3D object scanning and reconstruction, broadening our previous studies. The sensor consists of a slender, cylindrical, highly flexible probe, one‐sided clamped to some force‐torque measuring device. The probe is shifted relatively to an object of interest by displacing its clamping position quasi‐statically. Consequently, the probe gets bent, sweeps over the object and transmits mechanical signals (observables) to its support. The focus of the present investigation is on how the probe sweeps over a new type of object (paraboloid), verifying a necessary condition for optional contact points. Finally, this condition allows to find multiple equilibrium states for a single clamping position.

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