Design Of A Conformal Tactile Sensing Array

Abstract

In the course of the National Bureau of Standards' program in measurements and standards for automated manufacturing and robotics,a tactile sensing array with a high degree of conformability has been developed. The array consists of a pneumatically controlled matrix of displacement pins which provides a deformable grasping surface, and a corresponding array of optoelectronic proximity sensors which determine workpiece orientation and geometry. Regulation of air flow into the finger to control grasping stiffness permits the sensing and handling of very delicate or complex objects. Additional features of the design include programmable array rigidity, zero mechanical hysteresis, and gripper mounted packaging.