Multimodal tactile sensor

Abstract

We have developed a finger-shaped sensor array (BioTac®) that provides simultaneous information about contact forces, microvibrations and thermal fluxes, mimicking the full cutaneous sensory capabilities of the human finger. For many tasks, such as identifying objects or maintaining stable grasp, these sensory modalities are synergistic. For example, information about the material composition of an object can be inferred from the rate of heat transfer from a heated finger to the object, but only if the location and force of contact are well controlled. In this chapter we introduce the three sensing modalities of our sensor and consider how they can be used synergistically. Tactile sensing and signal processing is necessary for human dexterity and is likely to be required in mechatronic systems such as robotic and prosthetic limbs if they are to achieve similar dexterity.