Acoustical tactile sensor utilizing multiple reflections for principal curvature measurement

Kenbu Teramoto, Keigo Watanabe

Research output: Contribution to conferencePaperpeer-review

6 Citations (Scopus)


It is essential for robotic tactile sensors to provide capability of shape discrimination from static touch. For this purpose, the principal curvatures and corresponding principal directions play the important roles which defines the local shape of the object. This paper proposes a novel acoustic tactile sensing system which has an ability to identify the principal curvatures of the object surface by utilizing reflected acoustical wavefronts. Any smooth surface can be locally approximated by a set of independent parameters: the location of the point of contact, the normal vector of the tangent plane, the principal curvatures and the corresponding principal directions. The major difficulty, however, existing in estimating these parameters is that the wavefront reflected by the paraboloidal surface cannot be described in the linear combination of the plane-waves nor the spherical-waves strictly such that the nonlinearity exists between TOF and the parameters defining the surface. Avoiding the difficulty, the proposed sensing system utilizing TOFs for both single and double reflections.

Original languageEnglish
Number of pages6
Publication statusPublished - Dec 1 2001
Externally publishedYes
Event40th SICE Annual Conference - Nagoya, Japan
Duration: Jul 25 2001Jul 27 2001


Other40th SICE Annual Conference


  • Acoustic sensing
  • Array signal processing
  • Tactile sensor

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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