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244:, or interaction with unusual objects, need sensory apparatus which is functionally equivalent to a human's tactile ability. Tactile sensors have been developed for use with robots. Tactile sensors can complement visual systems by providing added information when the robot begins to grip an object. At this time vision is no longer sufficient, as the mechanical properties of the object cannot be determined by vision alone. Determining weight, texture,
22:
137:
463:. Tactile sensors also come in the form of pressure indicating films that reveal pressure distribution and magnitude between contacting surfaces by virtue of an immediate and permanent color change. These pressure indicating films are one-time use sensor that capture the maximum pressure they were exposed to. Pressure indicating films are activated by chemical reaction and are non-electronic sensors.
356:
sensing which has been determined to be important for understanding interactions between the tactile sensor and objects where the sensor slides over the object. Such interactions are now understood to be important for human tool use and judging the texture of an object. One such sensor combines force
316:
Several kinds of tactile sensors have been developed that take advantage of camera-like technology to provide high-resolution data. A key exemplar is the
Gelsight technology first developed at MIT which uses a camera behind an opaque gel layer to achieve high-resolution tactile feedback. The Samsung
275:
Pressure sensor arrays are large grids of tactels. A "tactel" is a 'tactile element'. Each tactel is capable of detecting normal forces. Tactel-based sensors provide a high resolution 'image' of the contact surface. Alongside spatial resolution and force sensitivity, systems-integration questions
203:
Sensors that measure very small changes must have very high sensitivities. Sensors need to be designed to have a small effect on what is measured; making the sensor smaller often improves this and may introduce other advantages. Tactile sensors can be used to test the performance of all types of
668:
Dahiya, Ravinder S.; Cattin, Davide; Adami, Andrea; Collini, Cristian; Barboni, Leonardo; Valle, Maurizio; Lorenzelli, Leandro; Oboe, Roberto; Metta, Giorgio; Brunetti, Francesca (2011). "Towards
Tactile Sensing System on Chip for Robotic Applications – IEEE Journals & Magazine".
345:. Biologically inspired tactile sensors often incorporate more than one sensing strategy. For example, they might detect both the distribution of pressures, and the pattern of forces that would come from pressure sensor arrays and strain gauge rosettes, allowing
340:
A variety of biologically inspired designs have been suggested ranging from simple whisker-like sensors which measure only one point at a time through more advanced fingertip-like sensors, to complete skin-like sensors as on the latest
369:, enabling enthusiasts and hobbyists to experiment with an otherwise expensive technology. Furthermore, with the advent of cheap optical cameras, novel sensors have been proposed which can be built easily and cheaply with a 3D printer.
199:
Tactile sensors appear in everyday life such as elevator buttons and lamps which dim or brighten by touching the base. There are also innumerable other applications for tactile sensors of which most people are never aware.
230:, as a medical imaging modality, translating the sense of touch into a digital image is based on the tactile sensors. Tactile imaging closely mimics manual palpation, since the probe of the device with a pressure
633:
Shimojo, M.; Namiki, A.; Ishikawa, M.; Makino, R.; Mabuchi, K. (2004). "A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method – IEEE Journals & Magazine".
332:, with each gauge detecting the force in a particular direction. When the information from each strain gauge is combined, the information allows determination of a pattern of forces or torques.
871:
130:
A PPS tactile sensor system (TactileHead) designed to quantify the pressure distribution over the face and head. Useful to optimise the ergonomic design of headgear and eyewear.
152:
which is capable of detecting stimuli resulting from mechanical stimulation, temperature, and pain (although pain sensing is not common in artificial tactile sensors). Tactile
234:
mounted on its face acts similar to human fingers during clinical examination, deforming soft tissue by the probe and detecting resulting changes in the pressure pattern.
148:
is a device that measures information arising from physical interaction with its environment. Tactile sensors are generally modeled after the biological sense of
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processes by engineers and technicians, and have been adapted for use in robots. Examples of such sensors available to consumers include arrays built from
43:
36:
263:
Several classes of tactile sensors are used in robots of different kinds, for tasks spanning collision avoidance and manipulation. Some methods for
988:
Cassidy, Andrew; Ekanayake, Virantha (2006). "A biologically inspired tactile sensor array utilizing phase-based computation".
1005:
944:
927:
Fishel, Jeremy A.; Santos, Veronica J.; Loeb, Gerald E. (2008). "A robust micro-vibration sensor for biomimetic fingertips".
478:"Learning efficient haptic shape exploration with a rigid tactile sensor array, S. Fleer, A. Moringen, R. Klatzky, H. Ritter"
264:
86:
58:
122:
uSkin Sensor by XELA Robotics, a high-density 3-axis tactile sensor in a thin, soft, durable package, with minimal wiring.
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Tactile
Discrimination Using Template Classifiers: Towards a Model of Feature Extraction in Mammalian Vibrissal Systems
65:
105:
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913:. From Animals to Animats 11, 11th International Conference on Simulation of Adaptive Behavior. Paris, France.
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A biologically inspired tactile sensor array utilizing phase-based computation – IEEE Conference
Publication
969:"Development of a tactile sensor based on biologically inspired edge encoding - IEEE Conference Publication"
758:"Ontogenetic scaling patterns of lizard skin surface structure as revealed by gel-based stereo-profilometry"
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54:
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Baeckens, Simon; Wainwright, Dylan K.; Weaver, James C.; Irschick, Duncan J.; Losos, Jonathan B. (2019).
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528:"Attention-Based Robot Learning of Haptic Interaction, A. Moringen, S. Fleer, G. Walck, H. Ritter"
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319:(STS) sensor uses a semi-transparent gel to produce combined tactile and optical imaging.
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such as wiring and signal routing are important. Pressure sensor arrays are available in
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A robust micro-vibration sensor for biomimetic fingertips – IEEE Conference
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Evans, Mathew H.; Fox, Charles W.; Pearson, Martin; Prescott, Tony J. (August 2010).
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The SynTouch BioTac, a multimodal tactile sensor modeled after the human fingertip
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872:"Seeing Through Your Skin: Recognizing Objects With a Novel Visuotactile Sensor"
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Piezoelectric oxide semiconductor field effect transistor touch sensing devices
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584:." 2012 IEEE International Conference on Robotics and Automation. IEEE, 2012.
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designed to interact with objects requiring handling involving precision,
596:"Tactile Sensing—From Humans to Humanoids – IEEE Journals & Magazine"
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Advanced versions of biologically designed tactile sensors include
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Wainwright, Dylan K.; Lauder, George V.; Weaver, James C. (2017).
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applications. For example, these sensors have been used in the
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Data sheet for Schunk FT-Nano 43, a 6-axis force torque sensor
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form. They are primarily used as analytical tools used in the
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require object interaction and some sort of tactile sensing.
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Fleer, S.; Moringen, A.; Klatzky, R. L.; Ritter, H. (2020).
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815:"Imaging biological surface topography in situ and in vivo"
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Dahiya, R.S.; Metta, G.; Valle, M.; Sandini, G. (2010).
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Recently, a sophisticated tactile sensor has been made
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sensing, vibration sensing, and heat transfer sensing.
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Strain gauges rosettes are constructed from multiple
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Tactile sensors may be of different types including
191:, optical, capacitive and elastoresistive sensors.
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465:Robotic Tactile Sensing – Technologies and System
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168:. A common application of tactile sensors is in
582:Tactile SLAM with a biomimetic whiskered robot
349:and force sensing, with human-like ability.
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106:Learn how and when to remove this message
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743:"SingleTact Capacitive Tactile Sensors"
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361:DIY and open-hardware tactile sensors
336:Biologically inspired tactile sensors
265:simultaneous localization and mapping
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267:are based on tactile sensors.
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44:secondary or tertiary sources
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715:Dobie, Gordon (7 May 2021).
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495:10.1371/journal.pone.0226880
428:Dobie, Gordon (7 May 2021).
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220:lamination, bolted joints,
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683:10.1109/JSEN.2011.2159835
1030:"Building It – TakkTile"
717:"PPS Capacitive Sensors"
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612:10.1109/TRO.2009.2033627
347:two-point discrimination
1069:Automation and Robotics
840:10.1111/2041-210X.12778
317:``See-through-your-skin
298:polyvinylidene fluoride
294:lead zirconate titanate
254:coefficient of friction
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580:Fox, Charles, et al. "
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271:Pressure sensor arrays
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31:relies excessively on
324:Strain gauge rosettes
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931:. pp. 659–663.
671:IEEE Sensors Journal
635:IEEE Sensors Journal
389:Pressure measurement
258:thermal conductivity
831:2017MEcEv...8.1626W
451:www.syntouchllc.com
300:(PVDF), PVDF-TrFE,
992:. pp. 45–48.
762:Journal of Anatomy
379:Tactile technology
306:capacitive sensing
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415:References
404:Transducer
308:elements.
222:fuel cells
66:newspapers
33:references
849:2041-210X
782:1469-7580
547:220069113
354:vibration
278:thin-film
246:stiffness
242:dexterity
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373:See also
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531:(PDF)
224:etc.
87:JSTOR
73:books
1002:ISBN
974:IEEE
941:ISBN
883:2021
845:ISSN
796:PMID
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728:2021
568:help
510:PMID
343:iCub
284:and
195:Uses
176:and
164:and
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933:doi
876:PPS
835:doi
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