Accession Number : ADA126362


Title :   A Prototype Tactile Sensor Array.


Descriptive Note : Interim rept.


Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST


Personal Author(s) : Christ, James P ; Sanderson, Arthur C


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a126362.pdf


Report Date : 15 Sep 1982


Pagination or Media Count : 48


Abstract : Although there are many potential applications for a tactile sensor array, very few practical implementations of such a sensor have been demonstrated. A practical tactile array sensor needs to be very durable, have a high resolution, have a small physical size, be relatively insensitive to noise, and have a compliant surface. In addition there is both physical and electrical coupling between elements of the array which should be eliminated or reduced as much as possible. In order to investigate some of these problems, a prototype tactile sensor was constructed. The sensor was made of a sheet of conductive foam sandwiched between layers of conductors. When the foam is compressed at some point, the resistance through the foam decreases. By selecting the appropriate conductor on each side of the foam, the resistance at any one of 256 points could be measured. The spatial resolution of the sensor was 1/4 inch. As a sample application, an object recognition system was implemented using the sensor. There are many questions involved in how to build a recognition system using a tactile sensor array. These includes how to separate the object from the background, what features to use, and forms of preprocessing to perform on the tactile image. The system implemented was a first step at answering the first two questions. When an object was presented to the sensor array, the resulting data was thresholded in order to separate the background from the object.


Descriptors :   *DETECTORS , *SIZES(DIMENSIONS) , *ARRAYS , *HIGH RESOLUTION , *PATTERN RECOGNITION , *DIGITAL COMPUTERS , *TOUCH , COUPLING(INTERACTION) , SPATIAL DISTRIBUTION , CONDUCTIVITY , LAYERS , RESOLUTION , ELASTIC PROPERTIES , PROTOTYPES , SENSITIVITY , ELECTRICAL PROPERTIES , SURFACES , IMAGES , SHEETS , RECOGNITION , NOISE , SIDES , PREPROCESSING , FORMS(PAPER) , ELECTRIC CONDUCTORS , FOAM


Subject Categories : Electrical and Electronic Equipment
      Computer Hardware


Distribution Statement : APPROVED FOR PUBLIC RELEASE