Intrinsic tactile sensing system design for robotics manipulation

This paper presents an intrinsic tactile sensing system designed to be implemented in a robotic anthropomorphic finger, and to fulfill most of tactile sensing characteristics required to achieve dexterous manipulation of objects. The system consists of an array of four 3-axis force sensors linked to a rigid frame with a soft non-planar surface. The paper deals with the design, construction, mathematical modeling, calibration and testing of the system. The tests show high accuracy in the estimation of contact point and force components.