Biomimetic Tactile Sensor for Control of Grip

We are developing a novel, robust tactile sensor array that mimics the human fingertip and its distributed set of touch receptors. The mechanical components are similar to a fingertip, with a rigid core surrounded by a weakly conductive fluid contained within an elastomeric skin. It uses the deforma...

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Bibliographic Details
Main Authors: Wettels, N., Popovic, D., Santos, V.J., Johansson, R.S., Loeb, G.E.
Format: Conference Proceeding
Language:English
Subjects:
Biomimetic
Biomimetics
electrode impedance
Electrodes
Fingers
Humans
Impedance measurement
pressure sensor
Robustness
Sensor arrays
Skin
Surface impedance
tactile sensor
Tactile sensors
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Summary:We are developing a novel, robust tactile sensor array that mimics the human fingertip and its distributed set of touch receptors. The mechanical components are similar to a fingertip, with a rigid core surrounded by a weakly conductive fluid contained within an elastomeric skin. It uses the deformable properties of the finger pad as part of the transduction process. Multiple electrodes are mounted on the surface of the rigid core and connected to impedance measuring circuitry within the core. External forces deform the fluid path around the electrodes, resulting in a distributed pattern of impedance changes containing information about those forces and the objects that applied them. Here we report preliminary results with prototypes of the sensor, and we propose strategies for extracting features related to the mechanical inputs and using this information for reflexive grip control.
ISSN:1945-7898
1945-7901
DOI:10.1109/ICORR.2007.4428534