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Tactile Sensing for Robotic Applications
This chapter provides an overview of tactile sensing in robotics. This chapter is an attempt
to answer three basic questions:
\u2022 What is meant by Tactile Sensing?
\u2022 Why Tactile Sensing is important?
\u2022 How Tactile Sensing is achieved?
The chapter is organized to sequentially provide the answers to above basic questions.
Tactile sensing has often been considered as force sensing, which is not wholly true. In order
to clarify such misconceptions about tactile sensing, it is defined in section 2. Why tactile
section is important for robotics and what parameters are needed to be measured by tactile
sensors to successfully perform various tasks, are discussed in section 3. An overview of
`How tactile sensing has been achieved\u2019 is given in section 4, where a number of
technologies and transduction methods, that have been used to improve the tactile sensing
capability of robotic devices, are discussed. Lack of any tactile analog to Complementary
Metal Oxide Semiconductor (CMOS) or Charge Coupled Devices (CCD) optical arrays has
often been cited as one of the reasons for the slow development of tactile sensing vis-\ue0-vis
other sense modalities like vision sensing. Our own contribution \u2013 development of tactile
sensing arrays using piezoelectric polymers and involving silicon micromachining - is an
attempt in the direction of achieving tactile analog of CMOS optical arrays. The first phase
implementation of these tactile sensing arrays is discussed in section 5. Section 6 concludes
the chapter with a brief discussion on the present status of tactile sensing and the challenges
that remain to be solved
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