Thermal tactile sensing

The measurement of temperature change as an indication of a material's relative thermal conductivity has often been utilized as a means of tactile sensing. Unfortunately, the long time response of most thermal sensors makes such a technique too slow for normal industrial robotic uses. The authors consider human tactile performance with particular regard to temperature sensing and introduce a means by which a usable risetime may be achieved. Two methods, using devices hitherto not utilized for tactile sensing, are demonstrated.>