基于光学测量的触觉硬度估计研究综述OACSTPCD

The application and development direction of tactile sensors based on optical measurement in hard-ness estimation of flexible targets are summarized.Firstly,Shore hardness is used as an example to introduce the basic principles of flexible target hardness measurement.Furthermore,the principle of tactile sensor based on optical measurement and its feasibility in hardness estimation are discussed.Then,the applications in differ-ent fields of hardness estimation based on optical measurement are summarized.Finally,the future research di-rection of tactile sensors based on optical measurement in hardness estimation is discussed.Current research in-dicates that tactile sensors based on optical measurement demonstrate significant potential in hardness estima-tion for flexible targets due to their advantages such as high resolution,low latency and rich perceptual informa-tion.However,there is still ample room for research in applications such as dexterous manipulation and medical diagnosis.