Tactual servoing on an object's surface with the visual information

Summary form only given. The tactual servoing on an object's surface using the visual information is of great practical importance in many sensing problems. On the edge tracking, the visual information is able to be used actively for estimating and guiding the direction of action at the tactual servoing. The tactual sensing is directly touching on the surface and exploring along the edge. Then, we try to make the advantage of both sensing functions use of the tactual servoing. The sensor fusion method are utilized and the tactual or visual image plane is defined as the sensor fusion space for identifying the parameters of touching actions at the contact point. In this article, we describe both the formulation of the sensor fusion applying to the tactual servoing and the development of tactile sensor with high compliance capable of the tactual edge detection.