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A VLSI Tactile Sensing Array Computer

Tanner, John E. and Raibert, Marc H. and Eskenazi, Raymond (1981) A VLSI Tactile Sensing Array Computer. In: Proceedings of the Second Caltech Conference on Very Large Scale Integration. California Institute of Technology , Pasadena, CA, pp. 217-233. http://resolver.caltech.edu/CaltechCONF:20120508-103910815

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Abstract

Here we describe a device that is at once a special purpose parallel computer and a high resolution tactile array sensor. We are interested in extending the technology that gives a robot manipulation system information about contact between the manipulator hand and its environment. We have replaced the passive substrates of earlier tactile sensors with a custom designed LSI device that handles transduction, computing, and communication. Large metal electrodes on the surface of the device are placed in contact with a conductive rubber. Deformations of this elastic material are sensed by measuring changes in its local resistivity. The sensory architecture eases the problem of connecting the transducer and computer by using an array of processors to filter and reduce raw data before communication. Since large arrays covering an entire intact wafer are planned, the design includes backup redundancy for the computing elements, and mechanisms for automatic replacement of failed elements.


Item Type:Book Section
Additional Information:This paper presents the results of one phase of research performed at the Jet Propulsion Laboratory, California Institute of Technology, sponsored by the National Aeronautics and Space Administration under Contract NAS7-100.
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NASANAS7-100
Record Number:CaltechCONF:20120508-103910815
Persistent URL:http://resolver.caltech.edu/CaltechCONF:20120508-103910815
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:226
Collection:CaltechCONF
Deposited By: Kristin Buxton
Deposited On:06 Aug 2012 23:10
Last Modified:26 Dec 2012 07:11

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