We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10 micro-force sensors in an elastomer layer. We measure the sensors' response to the passage of elementary topographical features in the form of a small hole on a flat substrate. The response is found to strongly depend on the relative location of the sensor with respect to the substrate/skin contact zone. This result can be quantitatively interpreted within the scope of a linear model of mechanical transduction, taking into account both the intrinsic response of individual sensors and the context-dependent interfacial stress field within the contact zone. Consequences on robotics of touch are briefly discussed.
@article{arxiv.1007.4928,
title = {Perception of Surface Defects by Active Exploration with a Biomimetic Tactile Sensor},
author = {Raphaël Candelier and Georges Debrégeas and Alexis Prevost},
journal= {arXiv preprint arXiv:1007.4928},
year = {2010}
}