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Artificial Roughness Encoding with a Bio-inspired MEMS-based Tactile Sensor Array
1-ARTS Lab - Advanced Robotics Technology and Systems Laboratory, Scuola Superiore Sant’Anna, Polo Sant’Anna Valdera / Viale Rinaldo Piaggio 34, 56025 Pontedera, PI, Italy
2-Informatics - Robotics & Embedded Systems, Technical University of Munich / 85748 Garching b. Muenchen, Germany
* Author to whom correspondence should be addressed.
Received: 3 March 2009; in revised form: 22 April 2009 / Accepted: 24 April 2009 / Published: 27 April 2009
Abstract: A compliant 2x2 tactile sensor array was developed and investigated for roughness encoding. State of the art cross shape 3D MEMS sensors were integrated with polymeric packaging providing in total 16 sensitive elements to external mechanical stimuli in an area of about 20 mm2, similarly to the SA1 innervation density in humans. Experimental analysis of the bio-inspired tactile sensor array was performed by using ridged surfaces, with spatial periods from 2.6 mm to 4.1 mm, which were indented with regulated 1N normal force and stroked at constant sliding velocity from 15 mm/s to 48 mm/s. A repeatable and expected frequency shift of the sensor outputs depending on the applied stimulus and on its scanning velocity was observed between 3.66 Hz and 18.46 Hz with an overall maximum error of 1.7%. The tactile sensor could also perform contact imaging during static stimulus indentation. The experiments demonstrated the suitability of this approach for the design of a roughness encoding tactile sensor for an artificial fingerpad.
Keywords: MEMS tactile sensor array; bio-inspired sensor; roughness encoding; dynamic touch; static contact imaging
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Cite This Article
MDPI and ACS Style
Oddo, C.M.; Beccai, L.; Felder, M.; Giovacchini, F.; Carrozza, M.C. Artificial Roughness Encoding with a Bio-inspired MEMS-based Tactile Sensor Array. Sensors 2009, 9, 3161-3183.
Oddo CM, Beccai L, Felder M, Giovacchini F, Carrozza MC. Artificial Roughness Encoding with a Bio-inspired MEMS-based Tactile Sensor Array. Sensors. 2009; 9(5):3161-3183.
Oddo, Calogero Maria; Beccai, Lucia; Felder, Martin; Giovacchini, Francesco; Carrozza, Maria Chiara. 2009. "Artificial Roughness Encoding with a Bio-inspired MEMS-based Tactile Sensor Array." Sensors 9, no. 5: 3161-3183.