Cog's Tactile

System

  Cog's Tactile System

We have begun experimenting with providing tactile feedback from the robot using resistive force sensors. Each sensor provides a measurement of the force applied to its sensing surface. As an initial experiment, we have mounted an 6 x 4 array of these sensors to the front of the robot's torso. The signals from these sensors are multiplexed through a single 6811 microcontroller, thus giving measurements of both force and position. A similar system has beenused to mount tactile sensors on some of the hands that we have used with therobot.