A novel tactile sensor based on structured light In this paper, we have developed a tactile sensor based on the working principle of structured light. It solves the problem that structured light systems are highly susceptible to ambient light and require frequent calibration. And the structural light principle is applied to the robot operation process, that the robot can acquire the threedimensional structure information of the object during the operation process, without worrying that the robot will block the camera and affect the reconstruction effect during the robot operation. The main components of the tactile sensor are two cameras, a transparent elastomer, and an adhesion layer pattern. In the experiment, we used the sensor to reconstruct a roman column model in three dimensions, in which the adhesion layer pattern is a structured light pattern coded by the spatial coding method. The results show that the tactile sensor developed in this paper can be used for threedimensional reconstruction of contact objects with good results. The 3D reconstruction accuracy of the sensor designed in this paper is 0.4mm.

A Structured Light Encoding Method for Marray Technique In this paper, we have designed a structured light encoding algorithm based on the fillandtestasyougoalong method. The algorithm achieves significant improvement for the structured light encoding technology, which could encode a lager resolution pattern with a certain number of symbols for encoding. It is significant to improve the accuracy of 3D recognition using the structured light (SL) technology, and reduce the complexity of the structured light algorithm, which is wildly used in 3D reconstruction, tactile sensor based on vision, grasping and so on. In the comparative experiment, we obtain nearly twice the size of the pattern encoded by the proposed encoding algorithm.