Perception of Surface Defects by Active Exploration with a Biomimetic Tactile Sensor

Details Perception of Surface Defects by Active Exploration with a Biomimetic Tactile Sensor Perception of Surface Defects by Active Exploration with a Biomimetic Tactile Sensor

2010-07-28

arxiv.org/abs/1007.4928v1

Physics

Condensed Matter

Soft Condensed Matter

5 pages

Scientific paper

We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10 micro-force sensors in an elastomer layer. We measure the sensors' response to the passage of elementary topographical features in the form of a small hole on a flat substrate. The response is found to strongly depend on the relative location of the sensor with respect to the substrate/skin contact zone. This result can be quantitatively interpreted within the scope of a linear model of mechanical transduction, taking into account both the intrinsic response of individual sensors and the context-dependent interfacial stress field within the contact zone. Consequences on robotics of touch are briefly discussed.

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