An integrated tactile and thermal sensor

The design, construction, and performance of a tactile sensor and a thermal sensor that can be combine into one compact device with both modalities is discussed. The tactile sensing portion is composed of an 8×8 array of force sensing cells with 1.8 mm center to center spacing. Heat transduction is measured by a 4×4 array of temperature sensors. A number of these devices will be mounted on the Utah-MIT four-fingered dextrous hand, providing a unique research environment for pursuing sensor driven control strategies.