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The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features
Laboratoire Jean Perrin, Ecole Normale Superieure, UPMC, CNRS FRE 3231, Paris 75005, France
* Author to whom correspondence should be addressed.
Received: 1 July 2011; in revised form: 30 July 2011 / Accepted: 1 August 2011 / Published: 11 August 2011
Abstract: We investigate the mechanism of tactile transduction during active exploration of finely textured surfaces using a tactile sensor mimicking the human fingertip. We focus in particular on the role of exploratory conditions in shaping the subcutaneous mechanical signals. The sensor has been designed by integrating a linear array of MEMS micro-force sensors in an elastomer layer. We measure the response of the sensors to the passage of elementary topographical features at constant velocity and normal load, such as a small hole on a flat substrate. Each sensor’s response is found to strongly depend on its relative location with respect to the substrate/skin contact zone, a result which can be quantitatively understood within the scope of a linear model of tactile transduction. The modification of the response induced by varying other parameters, such as the thickness of the elastic layer and the confining load, are also correctly captured by this model. We further demonstrate that the knowledge of these characteristic responses allows one to dynamically evaluate the position of a small hole within the contact zone, based on the micro-force sensors signals, with a spatial resolution an order of magnitude better than the intrinsic resolution of individual sensors. Consequences of these observations on robotic tactile sensing are briefly discussed.
Keywords: MEMS tactile sensor array; biomimetic sensor; mechanoreceptors; receptive field; friction; topological feature localization; hyperacuity; human tactile perception
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Candelier, R.; Prevost, A.; Debrégeas, G. The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features. Sensors 2011, 11, 7934-7953.
Candelier R, Prevost A, Debrégeas G. The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features. Sensors. 2011; 11(8):7934-7953.
Candelier, Raphaël; Prevost, Alexis; Debrégeas, Georges. 2011. "The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features." Sensors 11, no. 8: 7934-7953.