A full tactile sensing suite f o r the finger segments and palm of the Utah/MIT Dextrous Hand is presented. The rubber-based sensors employ capacitance sensing and floating electrodes in the top layer, and contain local electronics fo r excitation, filtering, analog-to-dzgital conversion, and serial commzanication. Experimental results on statzc, dynamic, and spatial properties are presented. U...

Achieving human-level performance in dexterous grasping tasks will likely require richer tactile sensing than is currently available [1]. Recently, biomimetic tactile sensors, designed to provide more humanlike capabilities, have been developed. These new sensors provide an opportunity to significantly improve the robustness of robotic manipulation. In order to take full advantage of the inform...

Certain photoelastic materials exhibit birefringent characteristics at a very low level of strain. This property of material may be suitable for dynamic or wave propagation studies, which can be exploited for designing tactile sensors. This paper presents the design, construction and testing of a novel dynamic sensor based on photoelastic effect, which is capable of detecting object slip as wel...

The CT (Computed tomography) method is very effective for making thinner optical waveguide-type tactile sensors. In a previous paper, the authors established the architecture of a CT tactile sensor and evaluated its principle using a series of computer simulations. As a result, the LU decomposition method showed better noise robustness compared to the ART method. On the basis of the simulations...

This paper presents the development of a low-cost MEMS based biomimetic tactile device intended to be incorporated as the core element in a biomimetic fingerpad. The developed silicon based sensing devices consist of an array of capacitive sensors with optimized design to measure force ranges encountered during tactile exploration of surfaces with different textures. As with the biological fing...

A tactile camera is a sensing system allows robotic systems to orientate and explore their surroundings by purely relying on tactile information. Real world application scenario for such devices are hazy water conditions where underwater robotic systems need to work. Building up such a system for underwater includes several challenges which need to be considered while chosing appropriate sensor...

In humans, the tactile perception of fine textures (spatial scale <200 micrometers) is mediated by skin vibrations generated as the finger scans the surface. To establish the relationship between texture characteristics and subcutaneous vibrations, a biomimetic tactile sensor has been designed whose dimensions match those of the fingertip. When the sensor surface is patterned with parallel ridg...

Despite recent advances in prosthetics and assistive robotics in general, robust simultaneous and proportional control of dexterous prosthetic devices remains an unsolved problem, mainly because of inadequate sensorization. In this paper, we study the application of regression to muscle activity, detected using a flexible tactile sensor recording muscle bulging in the forearm (tactile myography...

A walking-assistant robot guided by the intention and power-driven is presented, its purpose is to provide physical support and walking assistance for the elderly to meet their needs of walking autonomy, friendliness, and maintaining the ability of walking and taking care of themselves. Tactile and slip sensor is selected as the human interface to perceive the user’s walking intent, and the sen...