Smart tactile sensor

Abstract

This thesis presents an experimental smart tactile sensor system based on a 16-by-16 array of Force Sensing Resistor (FSR) elements. The tactile image data are acquired, memorized, and then transferred to a PC by an electronic interface using a PICmicro microcontroller. A user-friendly graphical user interface, integrates all the functions needed to acquire, process, display and save the tactile measurement data. Experiments on a set of 3D geometric symbols illustrate the functionality of the tactile sensor system. Finally, an application of the smart tactile sensor for robotic tactile object recognition is presented.