Chapter XX: Force and Tactile Sensors

• TactileSensorTypes_v1a.doc: Slightly revised version 5 Jan 06

Proximity and Proprioceptive Sensing

Proprioception

Proximity

Tactile Sensors and Arrays

For some brief text on each of these topics see attached Word file. TactileSensorTypes.doc: notes for sensors.

Discrete Sensors

Force/torque sensors

Dynamic sensors

Thermal sensors

Sensor Arrays

Uniaxial Arrays

Pressure sensing arrays (piezo resistive, capacitive, optical methods)

Curvature arrays (e.g. strain gage)

Displacement arrays (e.g. capacitive)

Multiaxial Arrays

Pressure + shear traction

Optical multi-axis displacement (Ferrier, etc.)

Multi-modal Arrays

thermal + pressure;

Processing of Tactile Information

Separate section or include with the various categories above - seems like most of low-level processing is specific to generic sensor type.

Pressure information Displacement information curvature information dynamic information

Force Sensor Processing

-- MarkCutkosky - 30 Oct 2005; 15 Nov 2005

Notes from Wednesday Nov 16, 2005

3 main uses of tactile sensing (make accompanying cartoon graphics for intro)

• short description of each of the above 3 uses of tactile sensing
• use this to frame following discussion ** Initial discussion taken from a functional point of view initially (rather than transduction point of view).

• fundamental point made in earlier paper: tactile sensing fundamentally different that audio and vision... interaction with environment neccesitates exchange of energy.

• tactile_arrays.xls: start at a table for tactile sensors (by transduction type)

• tactile_sensing_table.xls: sensor table by sensing modality