Date of Original Version



Conference Proceeding

Abstract or Description

We present the design of a modular tactile sensor and actuator system for observing human demonstrations of contact tasks. The system consists of three interchangeable parts: an intrinsic tactile sensor for measuring net force/ torque, an extrinsic tactile sensor for measuring contact distributions, and a tactile actuator for displaying tactile distributions. The novel components are the extrinsic sensor and tactile actuator which are “inside-out symmetric” to each other and employ an electrorheological gel for actuation.


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Included in

Robotics Commons



Published In

Proceedings of 1996 IEEE International Conference on Robotics and Automation, 13-17.