Tactile Sensing Using Tensor Cell
نویسندگان
چکیده
I n this paper, we propose a new tactile sensory structure using integrated sensing elements what we call “tensor cell”. I t as located sparsely in a flexible body of tactile sensor, and samples there the complete information of stress tensor w,hich requires six degrees of freedom t o describe it. W e clarify first the advantage of this architecture theoretically based on the elastici t y theory and the matrix algebra. Then the design of the actual tensor cell and experimental results are described, and an application of it t o contact surface characterization is shown. Tactile sensor array (a) Usual uniform array Receptive area I
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