Hybrid Tactile Sensing: Turning Garbage Bags into Tactile Sensors

In this paper, we introduce a new touch sensor design, which we refer to as hybrid tactile sensing. Hybrid tac-tile sensing combines the simplicity of analog touch sensing , which is widely used in electronic touch screens and touchpads, with the ability of shape discrimination of the array touch sensing, found in tactile sensors designed for robotics applications. We describe the construction techniques of the hybrid tactile sensor, its modelling, and two shape interpretation algorithms that determine the shape of an object in contact with the sensor. Simulation results are presented and future work is outlined. Construction techniques using inexpensive materials of polyoleen and fabric mesh are described.