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A high-resolution and sheetlike form imaging tactile sensor with video signal output has been developed. The sensor has a 64*64 array of sensing elements on a flexible PC board with 1-mm spatial resolution. Since the sensor outputs pressure distribution as a video signal, a real-time tactile image can be observed using a TV monitor. As the sensor is made up of a sheet of pressure-sensitive conductive rubber and stripe electrodes, there are undesirable currents passing between sensing elements. Thus these undesirable current passes must be cut within a short scanning period (500 ns for each element). The authors used a ground potential method and proved it useful under such a high-speed scanning condition. The properties of pressure-sensitive conductive rubber, including hysteresis and creep effects, are presented. A spatial filtering effect of an elastic cover for a tactile sensor is analyzed.>
Shimojo et al. (Tue,) studied this question.