| Abstract: | Various types of touch sensors which are currently being developed for use in Robotics are discussed. Three touch systems of varying degrees of complexity are then proposed. A simple, or basic, system is composed of force and moment, and contact sensors. An intermediate system using force and moment, slip, and binary tactile sensors. An advanced system is composed of four touch sensors: force and moment, temperature, analog tactile, and contact. These systems provide the robot with an increasing amount of information for object identification and manipulation. |
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