Characterization and simulation of tactile sensors

The response of a tactile sensor system (consisting of the sensors themselves and the material covering them) was characterized via robotic experiments. A point spread function model of this response was developed for typical interaction forces, allowing the use of graphics and imaging techniques respectively for simulating and interpreting tactile sensor readings. This model was implemented in software as a generic artificial tactile sensor simulator, and its accuracy at approximating the output of our test system is demonstrated.