the role of exploratory conditions in bio-inspired tactile sensing of single topogical features探索性的作用条件单topogical仿生触觉传感特性.pdfVIP

Sensors 2011, 11, 7934-7953; doi:10.3390/s110807934 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article The Role of Exploratory Conditions in Bio-Inspired Tactile Sensing of Single Topogical Features ¨ ´ Raphael Candelier, Alexis Prevost and Georges Debregeas Laboratoire Jean Perrin, Ecole Normale Superieure, UPMC, CNRS FRE 3231, Paris 75005, France; E-Mails: raphael.candelier@ens.fr (R.C.); alexis.prevost@lps.ens.fr (A.P.) Author to whom correspondence should be addressed; E-Mail: georges.debregeas@lps.ens.fr; Tel: +33-1-4432-3590; Fax: +33-1-4432-3433. Received: 1 July 2011; in revised form: 30 July 2011 / Accepted: 1 August 2011 / Published: 11 August 2011 Abstract: We investigate the mechanism of tactile transduction during active exploration of finely textured surfaces using a tactile sensor mimicking the human fingertip. We focus in particular on the role of exploratory conditions in shaping the subcutaneous mechanical signals. The sensor has been designed by integrating a linear array of MEMS micro-force sensors in an elastomer layer. We measure the response of the sensors to the passage of elementary topographical features at constant velocity and normal load, such as a small hole on a flat substrate. Each sensor’s response is found to strongly depend on its relative location with respect to the substrate/skin contact zone, a result which can be quantitatively understood within the scope of a linear model of tactile tran