Touch and motion [tactile sensor]

A tactile sensor has been developed which uses a layer of photoelastic material as its primary sensing element. This sensor has several desirable characteristics, including very high resolution, adaptable shape, and edge enhancement. Interestingly, the sensor has a similar sensing mechanism to human skin. A mathematical model has been developed for the sensor in an attempt to better understand its operation and to optimize its performance. The model draws heavily on the established fields of continuum mechanics and photoelastic stress analysis. The results of this analysis provide several important insights into tactile sensing and human touch, including an explanation of the importance of motion to touch, and the enhanced sensitivity of the sensor (and human skin) in detected edges