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Design of a Modular Tactile Sensor and Actuator Based on an Electrorheological Gel
journal contribution
posted on 1996-01-01, 00:00 authored by Richard M. Voyles, Gary K. Fedder, Pradeep K. KhoslaWe 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.