A slim and flexible tactile sensor applicable to the interaction of human and intelligent robots is presented. In particular, a simple sensing principle for decoupling of three-dimensional force is proposed. Sensitivity of the proposed tactile sensor is tested experimentally. To improve the sensitivity of the sensor, a table-shaped sensing element was designed. Table-shaped structure can conver...

Sliding tactile perception is a basic function for human beings to determine the mechanical properties of object surfaces and recognize materials. Imitating this process, this paper proposes a novel finger-shaped tactile sensor based on a thin piezoelectric polyvinylidene fluoride (PVDF) film for surface texture measurement. A parallelogram mechanism is designed to ensure that the sensor applie...

Ideally, a tactile stimulator presents information through control of surface normal stress and surface shear stresses. Psy-chophysical experiments measured the eeect of shear stress information on the perception of static stimuli applied normal to the surface. Wax gratings in two diierent orientations and various spatial frequencies were used as stimuli. Elastic layers, representing the anti-a...

In this paper, we quantify several spatial capabilities of the hmnan tactile system needed for tactile feedback, or teletaction. Psychophysics experiments measure the amplitude resolution of the human tactile system, the effects of shear stress on grating orientation discrimination, and the effects of viscoelasticity {creep and relaxation) on tactile perception for static touch. The results are...

To investigate basic issues related to tactile sensing for robots, a sensorized scenario has been devised which comprises amultisensor static platform and a tendon actuated, 4 degree-of-freedom exploratory finger. Multiple sensory information is fed to the finger control unit: most significant is that obtained through acomposite, skin-like tactile sensor, developed in our laboratory and based o...

In order to realize a wide area of a soft sensor skin covering the entire body of robots, several ideas of wireless tactile elements have been presented[1][2]. But those papers described only the sensing chip designs, and no methods of their equipment on a real robot had been shown. In this paper we propose a 1-D film coil array to power wireless tactile sensor chips and obtain sensing signals ...

Touch Sensing This is the detection and measurement of a contact force at a defined point. A touch sensor can also be restricted to binary information, namely touch, and no touch. Tactile Sensing This is the detection and measurement of the spatial distribution of forces perpendicular to a predetermined sensory area, and the subsequent interpretation of the spatial information. A tactile-sensin...

With the increasing complexity of robotic missions and the development towards long-term autonomous systems, the need for multi-modal sensing of the environment increases. Until now, the use of tactile sensor systems has been mostly based on sensing one modality of forces in the robotic end-effector. The use of a multi-modal tactile sensory system is motivated, which combines static and dynamic...

Effective tactile sensing for artificial platforms remains an open issue in robotics. This study investigates the performance of a soft biologically-inspired artificial fingertip in active exploration tasks. The fingertip sensor replicates the mechanisms within human skin and offers a robust solution that can be used both for tactile sensing and gripping/manipulating objects. The softness of th...

A hybrid tactile sensor system is proposed for a robot hand to hold and grip an object adaptively as the sensor system measures the slip of an object, the gripping force, and the deformation of its silicon rubber sensor element. A hybrid tactile sensor system consists of a Carbon Micro‐Coil (CMC) touch sensor and a force sensor. The CMC sensor element is made of silicon...