Tactile sensor employing a light conducting element and a resiliently deformable sheet

摘要

A tactile sensing device for use in robotics and medical prosthetics includes a transparent sheet-like element and a second resilient sheet- like element positioned adjacent the first transparent element. A light detection and imaging means is positioned to observe the interface between the two elements. A light source is provided to illuminate the interior of one of the two elements. Any object pressing against the resilient element deforms the same into contact with the transparent element. Areas of contact caused by the pressing object produce a lighted area that can be detected by the light detecting means. The output from the light detecting means may be processed by a computer and an image of the contact area produced by the pressing object can be displayed on a monitor or processed to operate an electro-mechanical control.