Event detection with 3D tactile sensors

In this contribution we present a fast and efficient technique for detecting and identifying the tactile events. This kind of events cannot be detected with tactile sensors sensing only the normal (perpendicular) component of the forces acting between surfaces. Our approach utilizes an integrated sensing-processing-actuating system comprising: (1) A 8×8 taxel (tactile pixel) array mounted on a tri-fingered robot hand, (2) event detector central unit (3) a closed loop controller. This arrangement, along with the proper pattern recognition algorithm, allows the detection and the control of the tactile event. It is essential to know and comprehend the forces between contact surfaces and the related 3D pressure fields.