Effect of sensor size in robotic tactile sensor arrays

SUMMARY The degree to which a binary tactile (or visual) image matches the original object is limited by the resolution of the sensor array. Given this fundamental limitation it is still possible to minimize the error in the image formed by the interconnection of the centers of activated sensors along the object's edge. This is achieved by a suitable choice of the physical size of each sensor within the limits of the pixel size. An empirical investigation shows that normally a sensor area of about 50% of the square of the resolution yields an optimal result.