초록 ▼

A tactile sensing system is provided which consists of essentially four components including a touch surface having a plurality of mechanically and electrically isolated sensitive sites, transducer means associated with each of the sensitive sites for converting a mechanical response to an electrica

A tactile sensing system is provided which consists of essentially four components including a touch surface having a plurality of mechanically and electrically isolated sensitive sites, transducer means associated with each of the sensitive sites for converting a mechanical response to an electrical signal, first signal processing means for scanning the signals produced by the transducer means and converting such signals to digital format, and second signal processing means including a computer for interpreting and displaying the data. The system of this invention is capable of providing high contrast, high normal load resolution, moderate spatial resolution and high sensitivity to determine such mechanical contact parameters as presence, pressure, pressure pattern, texture, hardness and topography of an object contacting the touch surface. In addition, separate means are included enabling the system to detect the location, magnitude and direction of shear forces applied to the touch surface.

대표청구항 ▼

A device for detecting, discriminating and identifying a number of mechanical contact parameters when contacting an object including presence, pressure, pressure pattern, topography, slip, incipient slip and the like comprising: a touch surface for contacting said object, said touch surface being mo

A device for detecting, discriminating and identifying a number of mechanical contact parameters when contacting an object including presence, pressure, pressure pattern, topography, slip, incipient slip and the like comprising: a touch surface for contacting said object, said touch surface being movable in a horizontal plane; a plurality of sensitive sites disposed in an array on said touch surface, said sensitive sites being deflected in response to a normal force applied by contact with said object, said touch surface being moved laterally in said horizontal plane in response to a shear force applied by contact with said object; normal force detection transducer means associated with each of said sensitive sites, said normal force transducer means being operable to sense said deflection of said sensitive sites and produce an electrical signal proportional to the magnitude of said deflection; shear force detection transducer means associated with said touch surface, said shear force transducer means being operable to sense said lateral motion of said touch surface and produce an electrical signal proportional to said lateral motion; signal processing means operable to receive said electrical signals from said normal force and shear force transducer means and provide information identifying said contact parameters of said object.