Development of Vision Based Tactile Sensor Rendering Distributed Contact Force / (Record no. 613928)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 02706nam a22001577a 4500 |
| 082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER | |
| Classification number | 610 |
| 100 ## - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Qaisar, Muhammad Raheel |
| 245 ## - TITLE STATEMENT | |
| Title | Development of Vision Based Tactile Sensor Rendering Distributed Contact Force / |
| Statement of responsibility, etc. | Muhammad Raheel Qaisar |
| 264 ## - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE | |
| Place of production, publication, distribution, manufacture | Islamabad : |
| Name of producer, publisher, distributor, manufacturer | SMME- NUST; |
| Date of production, publication, distribution, manufacture, or copyright notice | 2025. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 90p. |
| Other physical details | Soft Copy |
| Dimensions | 30cm |
| 500 ## - GENERAL NOTE | |
| General note | Tactile sensing in robotics plays a crucial role in enabling precise and safe object manipulation,<br/>particularly when dealing with fragile or delicate items that require accurate force control.<br/>Traditional tactile sensors primarily provide single-point force measurements, which limits<br/>their utility in complex manipulation tasks where distributed contact information is essential.<br/>As robotic systems advance toward more human-like dexterity, the demand for distributed<br/>tactile sensing has increased significantly. Various modalities have been developed for this<br/>purpose, including capacitive, resistive, piezoelectric, and vision-based tactile sensors<br/>(VBTSs). Among these, VBTSs have gained considerable attention due to their unique<br/>advantages, such as high spatial resolution, resistance to hysteresis, immunity to<br/>electromagnetic interference, and the capability to measure distributed forces accurately.<br/>Despite their promising attributes, the development of VBTSs still lacks a structured and<br/>generalized design methodology. This paper addresses that gap by proposing a comprehensive<br/>design framework for the development of a multimodal VBTS system. The proposed sensor<br/>architecture integrates visual and tactile stimuli using an elastic skin embedded with square<br/>fiducial markers, coupled with a depth camera. The core sensing principle relies on tracking<br/>the deformation of these markers under external contact, which allows for accurate estimation<br/>of distributed contact forces. The stiffness of the elastic skin was experimentally characterized,<br/>and this data was utilized to correlate marker displacement with applied forces through<br/>controlled indentation experiments. A prototype sensor was fabricated following the proposed<br/>framework, and experimental validation was conducted by performing object manipulation<br/>tasks. Results demonstrate that the sensor effectively estimates distributed contact forces and<br/>can handle fragile objects with precision. This study contributes a robust methodology for<br/>developing VBTSs and highlights their potential in advancing tactile capabilities in robotic<br/>systems.<br/> |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | MS Biomedical Engineering (BME) |
| 700 ## - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Supervisor : Dr. Muhammad Asim Waris |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | <a href="http://10.250.8.41:8080/xmlui/handle/123456789/53232">http://10.250.8.41:8080/xmlui/handle/123456789/53232</a> |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | |
| Koha item type | Thesis |
| Withdrawn status | Permanent Location | Current Location | Shelving location | Date acquired | Full call number | Barcode | Koha item type |
|---|---|---|---|---|---|---|---|
| School of Mechanical & Manufacturing Engineering (SMME) | School of Mechanical & Manufacturing Engineering (SMME) | E-Books | 06/26/2025 | 610 | SMME-TH-1136 | Thesis |