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Springer Handbook of Robotics pp 717–736Cite as

Force and Tactile Sensing

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Abstract

This chapter provides an overview of force and tactile sensing, with the primary emphasis placed on tactile sensing. We begin by presenting some basic considerations in choosing a tactile sensor and then review a wide variety of sensor types, including proximity, kinematic, force, dynamic, contact, skin deflection, thermal, and pressure sensors. We also review various transduction methods, appropriate for each general sensor type. We consider the information that these various types of sensors provide in terms of whether they are most useful for manipulation, surface exploration or being responsive to contacts from external agents.

Concerning the interpretation of tactile information, we describe the general problems and present two short illustrative examples. The first involves intrinsic tactile sensing, i. e., estimating contact locations and forces from force sensors. The second involves contact pressure sensing, i. e., estimating surface normal and shear stress distributions from an array of sensors in an elastic skin. We conclude with a brief discussion of the challenges that remain to be solved in packaging and manufacturing damage-tolerant tactile sensors.

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Abbreviations

2-D:

two-dimensional

CCD:

charge-coupled device

CMOS:

complementary metal-oxide-semiconductor

DOF:

degree of freedom

FSR:

force sensing resistor

IR:

infrared

MEMS:

microelectromechanical system

PC:

personal computer

PSD:

position sensing device

PVDF:

polyvinylidene fluoride

RTD:

resistance temperature devices

SEM:

scanning electron microscope

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Authors and Affiliations

  1. Department of Mechanical Engineering, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Mark R. Cutkosky

  2. Department of Mechanical Engineering, University of Utah, 50 South Central Campus Drive, UT 84112-9208, Salt Lake City, USA

    William Provancher

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  1. Mark R. Cutkosky
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Correspondence to Mark R. Cutkosky .

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Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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The effect of twice dropping, and then gently placing, a two gram weight on a small capacitive tactile array available from http://handbookofrobotics.org/view-chapter/28/videodetails/14

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Capacitive tactile sensing available from http://handbookofrobotics.org/view-chapter/28/videodetails/15

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Cutkosky, M.R., Provancher, W. (2016). Force and Tactile Sensing. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_28

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