Tactile sensor
Sensors are used in a variety of modem devices and transducers. Tactile sensors are employed where ever interactions between a contact surface and the environment are to be measured and registered. Tactile sensors are useful in a wide variety of applications for robotics and computer hardware. Industrial robots are intended to replace human workers in a variety of assembly tasks. In order for robots to effectively perform increasingly more delicate and detailed tasks, it becomes necessary to provide sensory apparatus which is functionally equivalent to the various sensors which human workers are naturally endowed touch. Sensors enable a robot to respond to changes in its environment. Tactile sensors have been developed for use with industrial robots. Tactile sensors can complement visual systems by becoming the controlling system at the time contact is made between a gripper of the robot and an object or objects being gripped, this being a time when vision is often obscured. Typical tactile sensors have force-sensitive deflection-responsive sensor members associated with the sensor surface and electrical circuitry which connects the members to an analyzer for determining a physical parameter of the object being sensed. In robotics, tactile sensors provide useful information about the state of contact between a robot hand and an object in prehension. Sensors can indicate the presence or shape of an object, its location in the hand, and the force of contact. Tactile sensors are generally known and can be grouped into a number of different types depending upon their construction, the most common groups are piezoresistive, piezoelectric, capacitive and elastoresistive sensors.
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