| 摘要 |
<p>A sensitive, durable, high resolution tactile sensor (10) particularly suited for use as a robot end effector in an automated manufacturing process. The tactile sensor (10) has an array of pressure sensing sites (S1, 52...) provided by a series of current emitter electrodes (20) surrounded by a series of companion current collector electrodes (21) both of which engage a rough conductive layer (23) carried on the underside of a resilient platen (16). The emitters (20) are electrically connected together in parallel rows, and the collectors (21) are electrically connected together in parallel columns above and across the rows. The emitters (20) and collectors (21) are electrically insulated from one another as are the rows and columns. When the platen (16) engages an object (P) to apply pressure at one of the sites, and a positive voltage is applied to an emitter electrode, current flows from the emitter electrode (20) and through the conductive layer (23) to the companion collector electrode (21) from which it is collected and measured. Cross-multiplexing circuitry (36 etc) scans the rows and columns periodically to provide a readout of both the location and magnitude of applied pressure.</p> |
