Multiphysics Simulation for the Optimization of an Optoelectronic-Based Tactile Sensor

Robotic systems are more and more present in various contexts such as industrial, domestic, logistic, health-care, and others. For this reason, robots are being used for increasingly complex tasks which require skills like dexterity and precision. These capabilities are achieved by means of sensory systems that give that robot the perception of the environment. Sensors, before being produced and distributed, need to be suitably designed in order to fulfil the specifics that a task requires. During the design process, simulation methods are really important to analyze the characteristics of a designed product before actually producing it, so as to avoid waste of time and money. This paper aims at proposing a method for simulating a tactile sensor based on optoelectronic technology considering both the optical and mechanical interfaces, as well as their coupling. Also, it exploits both simulation and experiment results in order to discuss the best choice for the shape to use for the realization of reflective cells.