The conceptual and implementation aspects are presented for a cutaneous tactile sensor developed for the contact measurement of a local three dimensional object shape. Most of the available tactile sensing technologies measure the contact force transmitted through an elastic pad which contacts the object of interest. A force-sensitive array of strain gauges is used in an experimental 8-by-8 sensor array to provide a de facto two dimensional sampling of the continuous spatial field of the strain in the elastic pad. Each gauge also provides a quantization of strain intensity in the third direction of three dimensional space. The different functional steps in the sensing process were studied using the experimental tactile sensor array. The results show that the tested approach is robust and has a number of functional characteristics which favor further investigation for potential space applications.
Electrical and Computer Engineering, Volumes 1 and 2 4 p (SEE N93-30215 11-31)
- Pub Date:
- Strain Gages;
- Tactile Discrimination;
- Tactile Sensors (Robotics);
- Three Dimensional Models;
- Instrumentation and Photography