‘Dynamic’ multi-functional tactile sensing

The human sensory system is composed of a vast complex network of nerves providing details on a immense range of parameters. This paper reports on the development of a functional robotic ‘skin’ formed from a multi-modal tactile design capable of detecting, contact pressure/force, texture, hardness, temperature, thermal conductivity, surface profile/shape and slip. The attributes of the sensors used in this mechanism are augmented and enhanced by the use of ‘dynamic’ (motion based) techniques that improve data collection capacity and spatial resolution through low cost electronic methods. Further by combining this cutaneous data with kinaesthetic information from the robot controller rudimentary sensor fusion abilities have been used to aid material identification by touch and provide a basic form of robotic tactile perception.