Touch localisation accuracy of OptoSkin optical tactile sensors fabricated from different light-guide materials

Zore, Aleš (avtor), Stopar, Julija (avtor), Ogurcovs, Andrejs (avtor), Butikova, Jelena (avtor), Aulika, Ilze (avtor), García-Pueyo, Jorge (avtor), Cartiel, Sergio (avtor), Muñoz, Adolfo (avtor), Laurenzis, Martin (avtor), Bacher, Emmanuel (avtor), Munih, Marko (avtor), Kamnik, Roman (avtor)

Providing feedback information on touch is crucial in human–robot collaboration tasks. Within the framework of the HE SestoSenso project, a novel approach to touch sensing was developed by exploiting the properties of laser beam propagation in light-guide materials, and three different prototype sensory surfaces were fabricated. For the proposed OptoSkin robot-body optical sensor surface, which employs a time-of-flight (ToF) sensor combined with a light-guide material, a performance evaluation was conducted. Using a controlled test robot cell, two experiments were carried out: a field-of-view (FoV) assessment and a localisation accuracy evaluation. Three different prototypes made from optically transparent but distinct materials were examined: acrylic glass, a 3D-printed material, and soft silicone rubber. The localisation evaluation was performed by applying controlled forces with a robot on a rectangular grid, with a raster spacing of 10 mm between individual touch locations. The evaluation results confirm accurate touch localisation, with an error of less than 5 mm and a variability of less than 2 mm in the sensor FoV. The comparison of the OptoSkin prototypes shows the best performance for the soft silicone rubber material and the worst for the 3D-printed material.

• Jezik: Angleški jezik
• Ključne besede: localisation, time-of-flight, LIDAR, optical sensing, robot skin, touch detection
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2026
• Št. strani: 12 str.
• Številčenje: Vol. 230, pt. E, art. 115810
• PID: 20.500.12556/RUL-184882
• UDK: 681.586:007.52
• ISSN pri članku: 0030-3992
• DOI: 10.1016/j.optlastec.2026.115810
• COBISS.SI-ID: 285121027
• Datum objave v RUL: 16.07.2026

Gradivo je del revije

• Naslov: Optics and laser technology
• Skrajšan naslov: Opt. Laser Technol.
• Založnik: Elsevier
• ISSN: 0030-3992
• COBISS.SI-ID: 26072576

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: okalizacija, čas preleta, LIDAR, optično zaznavanje, robotska koža, zaznavanje dotika

Projekti

• Financer: EC - European Commission
• Številka projekta: 101070310
• Naslov: Physical Cognition for Intelligent Control and Safe Human-Robot Interaction
• Akronim: Sestosenso

• Financer: ARIS - Javna agencija za znanstvenoraziskovalno in inovacijsko dejavnost Republike Slovenije
• Številka projekta: P2-0228
• Naslov: Analiza in sinteza gibanja pri človeku in stroju