Tactile sensing using elastomeric sensors
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2013
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| Online Access: | http://hdl.handle.net/1721.1/78183 |
| _version_ | 1811084510428659712 |
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| author | Jia, Xiaodan (Xiaodan Stella) |
| author2 | Edward H. Adelson and Mandayam A. Srinivasan. |
| author_facet | Edward H. Adelson and Mandayam A. Srinivasan. Jia, Xiaodan (Xiaodan Stella) |
| author_sort | Jia, Xiaodan (Xiaodan Stella) |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. |
| first_indexed | 2024-09-23T12:51:54Z |
| format | Thesis |
| id | mit-1721.1/78183 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T12:51:54Z |
| publishDate | 2013 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/781832019-04-10T23:19:39Z Tactile sensing using elastomeric sensors Jia, Xiaodan (Xiaodan Stella) Edward H. Adelson and Mandayam A. Srinivasan. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. Cataloged from PDF version of thesis. Includes bibliographical references (p. 99-111). GelSight, namely, elastomeric sensor, is a novel tactile sensor to get the 3D information of contacting surfaces. Using GelSight, some tactile properties, such as softness and roughness, could be gained through image processing techniques. In this thesis, I implemented GelSight principle to reconstruct surface geometry of tested surfaces, based on which, the roughness comparison and lump detection experiment are conducted. Roughness of five different types of sandpapers are successfully compared using GelSight Ra value. In the lump detection experiment, a visual display for tactile information is presented. To get binary feedback of lump presence or not, a simple threshold method is introduced in this thesis. To evaluate the performance of GelSight sensor, human psychological experiments are conducted. In similar tasks, GelSight sensor outperforms humans in lump detection. by Xiaodan (Stella) Jia. S.M. 2013-03-28T18:12:03Z 2013-03-28T18:12:03Z 2012 2012 Thesis http://hdl.handle.net/1721.1/78183 829815484 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 111 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Jia, Xiaodan (Xiaodan Stella) Tactile sensing using elastomeric sensors |
| title | Tactile sensing using elastomeric sensors |
| title_full | Tactile sensing using elastomeric sensors |
| title_fullStr | Tactile sensing using elastomeric sensors |
| title_full_unstemmed | Tactile sensing using elastomeric sensors |
| title_short | Tactile sensing using elastomeric sensors |
| title_sort | tactile sensing using elastomeric sensors |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/78183 |
| work_keys_str_mv | AT jiaxiaodanxiaodanstella tactilesensingusingelastomericsensors |