20.500.12556/RUL-184882 Touch localisation accuracy of OptoSkin optical tactile sensors fabricated from different light-guide materials 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. localisation time-of-flight LIDAR optical sensing robot skin touch detection okalizacija čas preleta LIDAR optično zaznavanje robotska koža zaznavanje dotika true false true Angleški jezik Slovenski jezik Članek v reviji 2026-07-16 14:21:26 2026-07-16 14:21:33 2026-07-17 04:30:52 0000-00-00 00:00:00 2026 0 0 12 str. pt. E, art. 115810 Vol. 230 Nov. 2026 0000-00-00 Zaloznikova Objavljeno apc 0000-00-00 0000-00-00 0000-00-00 681.586:007.52 0030-3992 10.1016/j.optlastec.2026.115810 285121027 1-s2.0-S0030399226011618-main.pdf 1-s2.0-S0030399226011618-main.pdf 1 353E1F8927E46916E328176661E6C9A2 58d75ac9412edaefe14f141a9b9ced6df780cea177fee0171e02810dc3d0dc02 db325cdd-8110-11f1-9b0d-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=240276 https://www.sciencedirect.com/science/article/pii/S0030399226011618 1 b32c5520-8110-11f1-9b0d-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=240275 Fakulteta za elektrotehniko 0 0 0