Development of an Optical Sensor Capable of Measuring Distance, Tilt, and Contact Force

Takahiro Nozaki, Hermano Igo Krebs

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


Depth, proximity, and tactile sensors are often used in robotic object manipulation. The three types of sensors are combined to address each sensor limitation: Depth use is limited by blind spots and measurable range, proximity sensor is limited to millimetric distances, and the tactile sensor requires direct contact with the object. Here we present a novel sensor that can simultaneously measure millimetric distance and surface tilt, as well as contact force. We demonstrated the advantage of this novel sensor during a contact task. There, we implemented an admittance control and succeeded in achieving smooth transition from zero- to infinite-impedance contact condition and vice-versa. This novel sensor affords the realization of advanced interactions between robot and objects and contrary to previous approaches - limited by distance, blind spots, and impact force during initial contact - demonstrated good performance at all times with smooth and continuous measurements during contact.

Original languageEnglish
Pages (from-to)4938-4945
Number of pages8
JournalIEEE Transactions on Industrial Electronics
Issue number5
Publication statusPublished - 2022 May 1


  • Admittance control
  • contact force
  • haptics
  • impedance control
  • object manipulation
  • proximity sensor
  • robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Development of an Optical Sensor Capable of Measuring Distance, Tilt, and Contact Force'. Together they form a unique fingerprint.

Cite this