Dynamic tactile sensing: perception of fine surface features with stress rate sensing

Dynamic tactile sensing, which is defined as sensing during motion for perception of high spatial and temporal frequencies, is presented. Applications include sensing fine surface features and textures and monitoring contact conditions for dextrous manipulation. One type of dynamic tactile sensor, the stress rate sensor, is described in detail. It uses piezoelectric polymer transducers to measure the changes in stress induced in the sensor´s rubber skin as it traverses small surface features and textures. The signals are interpreted with the aid of a solid mechanics model of the contact interaction and a linear deconvolution filter. Experimental verification of the sensor´s performance, including the detection of surface features only 6.5 μm high, are presented