{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T06:21:13Z","timestamp":1777443673325,"version":"3.51.4"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2004,4,21]],"date-time":"2004-04-21T00:00:00Z","timestamp":1082505600000},"content-version":"unspecified","delay-in-days":51,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2004,3]]},"abstract":"<jats:p>This paper describes precision enhancement of an optical three-axis tactile sensor capable of detecting both normal force and tangential force. The sensor's single cell consists of a columnar feeler and 2-by-2 conical feelers. We have derived equations to precisely estimate the three-axis force from the area-sum and area-difference of the conical feelers' contact areas by taking into account wrench-length shrinkage caused by a vertical force. To evaluate the equations and determine constants included in the equations, we performed a series of calibration experiments using a manipulator-mounted tactile sensor and a combined load-testing machine. Subsequently. to evaluate the tactile sensor's practicality. it was mounted on the end of a robotic manipulator which rubbed flat specimens such as brass plates with step-heights of \u03b4=0.05, 0.1, 0.2\u2006mm and a brass plate with no step-height. We showed from the experimental data that the optical three-axis tactile sensor can detect not only the step-heights but also the distribution of the coefficient of friction, and that the sensor can detect fine plate inclination with accuracy to about \u00b10.4\u00b0.<\/jats:p>","DOI":"10.1017\/s0263574703005538","type":"journal-article","created":{"date-parts":[[2004,4,22]],"date-time":"2004-04-22T15:56:45Z","timestamp":1082649405000},"page":"213-221","source":"Crossref","is-referenced-by-count":73,"title":["Sensing characteristics of an optical three-axis tactile sensor under combined \nloading"],"prefix":"10.1017","volume":"22","author":[{"given":"Masahiro","family":"Ohka","sequence":"first","affiliation":[]},{"given":"Yasunaga","family":"Mitsuya","sequence":"additional","affiliation":[]},{"given":"Yasuaki","family":"Matsunaga","sequence":"additional","affiliation":[]},{"given":"Shuichi","family":"Takeuchi","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2004,4,21]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574703005538","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,6]],"date-time":"2019-05-06T21:28:24Z","timestamp":1557178104000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574703005538\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,3]]},"references-count":0,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2004,3]]}},"alternative-id":["S0263574703005538"],"URL":"https:\/\/doi.org\/10.1017\/s0263574703005538","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2004,3]]}}}