This paper presents the design, construction and testing of a new capacitive tactile sensor for measurement of normal tactile force. The operation of proposed sensor has been investigated in ASTABLE and MONOSTABLE circuits. According to the results of these circuits the deviation of ASTABLE circuit results is less than MONOSTABLE circuit results. In addition, the results obtained from ASTABLE c...

in this paper, design and construction of a tactile sensor for measuring contact-force is presented. mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. by considering a specific point in the circuit and recording the changes of its voltage, ma...

This paper presents the design and modeling of a flexible tactile sensor, capable of detecting the 2D surface texture image, contact-force estimation and stiffness of the sensed object. The sensor is made of polymer materials. It consists of a cylindrical chamber for pneumatic actuation and a membrane with a mesa structure. The inner radius of the cylindrical chamber is 2cm and its outer radius...

We present the design of a modular tactile sensor and actuator system for observing human demonstrations of contact tasks. The system consists of three interchangeable parts: an intrinsic tactile sensor for measuring net force/ torque, an extrinsic tactile sensor for measuring contact distributions , and a tactile actuator for displaying tactile distributions. The novel components are the extri...

In this paper, design and construction of a tactile sensor for measuring contact-force is presented. Mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. By considering a specific point in the circuit and recording the changes of its voltage, ma...

Piezoelectric vibratory tactile sensors are used for measuring the softness and hardness of an object. In this research, the sensitivity of the longitudinal bar type tactile sensor was considered to establish the design guideline of the vibratory tactile sensor. First, the sensitivity on the frequency change of the longitudinal bar resonator in contact with an object was approximately derived f...

This papers analyzes the reliability of radius of curvature estimates from tactile sensor data. A linear elastic model is used to t the indenter parameters, load, location, and curvature, to the sensor output. It was found that both contact models and calibration techniques could dramatically eeect the bias and variance of the estimated indenter parameters. The Fourier series is found to be an ...

This paper describes a comprehensive tactile sensor systemwhich can cover wide areas of full-body robots. Based on design criteria which are introduced from requirements, we develop two types of tactile sensor elements. One is a multi-valued touch sensor which has multi-level pressure thresholds. It is capable of coveringwide areas of robot surfaces. The other is made of soft, conductive gel, w...

A kind of new material suitable for flexible tactile sensor and its preparation method will be introduced. The tactile sensor applied this new material and method can be used in many kinds of occasions which contacting pressure measurement such as humanoid robot sensitive skin, medicine and so on. This material is composite of carbon black and silicone rubber filled nano-SiO2 as the main raw ma...