Fuzzy inference based subjective material-recognition system employing a multi-modal tactile sensor

A multi-modal tactile sensing system for a human-like tactile representation is proposed. The proposed system consists of the multimodal tactile sensor and a texture recognition block employing fuzzy inference. The sensor inspired by structure of human´s fingertip detects pressure, thermal conductivity and strain by using a pressure-sensitive conductive rubber, a PVDF film and a strain gauge, respectively. By introducing two active motions which are pressing and tracing on a surface of an object, hardness, warmth, friction and roughness of a material can be recognized. Furthermore subjective material-recognition mechanism can be implemented using fuzzy rules that describe directly a human-like sense of touch in word. We will show material-recognition experiments using several materials found in our daily life and discuss the performance of the system for subjective recognition.