Alin Drimus, Nicolae Marian, Arne Bilberg

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


The artificial sense of touch is a research area that can be considered still in demand, compared
with the human dexterity of grasping a wide variety of shapes and sizes, perform complex tasks, and switch
between grasps in response to changing task requirements. For handling unknown objects in unstructured
environments, tactile sensing can provide more than valuable to complementary vision information about
mechanical properties such as recognition and characterization, force, pressure, torque, compliance, friction,
and mass as well as object shape, texture, position and pose. In this paper, we described the working principles
of a few types of tactile sensing cells, focusing on the piezoresistive materials. Starting from a set of requirements
for developing a high resolution flexible array sensor we have investigated if CSA pressure sensitive
conductive rubber could be a proper candidate and can be used for building an array sensor prototype.
Comparing different sensing cell structures in terms of output characteristics, we propose a simple, cheap, yet
robust prototype, and we validate that it can be used for object recognition and shape analysis showing a few
preliminary examples, where geometrical features of small objects are identified.
Original languageEnglish
Title of host publicationProceedings : REM 2009. 10th International Workshop on Research and Education in Mechatronics (REM2009) 10-11 September 2009 University of Strathclyde, Glasgow, UK
EditorsXiu Tian Yan, Jonathan Corney, Philip Moore
Number of pages7
PublisherInternational Workshop on Research and Education in Mechatronics
Publication date2009
Publication statusPublished - 2009
EventInternational Workshop on Research and Education in Mechatronics - Glasgow, United Kingdom
Duration: 10. Sep 200911. Sep 2009
Conference number: 10


ConferenceInternational Workshop on Research and Education in Mechatronics
Country/TerritoryUnited Kingdom


  • tactile sensing array
  • artificial skin
  • piezoresistive sensor
  • robotic system


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