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An all digital VLSI tactile array sensor

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1 Author(s)
Raibert, M. ; Carnegie-Mellon University, Pittsburgh, Pennsylvania

This paper describes a new VLSI tactile array sensor that was designed for use on the fingers of a robot manipulator. The photolithographic methods used in fabricating the microelectronics were also used to build an array of mechanical structures on top of an integrated circuit. When covered with a suitable elastic material, the mechanical structures, notch-shaped windows in the protective overglass, convert applied pressure directly into a set of switch-like closures. The data obtained from these switch closures are multiplexed by logic in the circuit before transmission to a host, thereby reducing the wiring problem associated with discrete array sensors. A prototype with 48 cells arranged in a 6 by 8 array is currently being built.

Published in:

Robotics and Automation. Proceedings. 1984 IEEE International Conference on  (Volume:1 )

Date of Conference:

Mar 1984