2-D finite-element models of tactile sensors

It is proposed that tactile sensors be modeled mechanically with finite-element methods, which capture the geometry and boundary conditions more faithfully than classical techniques. The main advantage of finite-element methods is increased realism of the models. The main disadvantage is a loss of simplicity, especially with respect to providing a model for fast and reliable inversion of the transduced strains to find the new surface profile of the sensor under contact. The use of finite-element methods indicates that the shear components of the sensor deformation are key to reconstruction of the geometry of the identing object. Even with shear strain, however, it is possible to produce tactile signals that are very similar even when the indenting objects are very dissimilar. These, plus effects from nonplanar sensor geometries, pose problems for tactile sensing