Multifunctional tactile sensor system for tactile recorder

Abstract

Recent advances in robotic systems have enabled ultrafine control and precision comparable to that of human hands. However, structural constraints of robotic hands require tactile sensors with high functional complexity and precision while maintaining a simple design. Analogous to vision sensors, tactile sensors would benefit from the ability to record key tactile parameters, including pressure, temperature, and surface texture. This study presents a multifunctional tactile sensor integrating a piezoelectric pressure sensor and a resistive temperature sensor within a single body, along with a tactile recorder system for real-time data acquisition and analysis. The temperature sensor's electrodes also serve as those of the pressure sensor, achieving structural integration but functional separation. The sensor exhibits a response time of less than 10 ms and sensitivities of 0.69 mV/kPa and 2.7 Omega/degrees C for pressure and temperature, respectively. A deviation of 4.68 mV across 25 sensing cells demonstrates excellent uniformity, enabling high-resolution surface mapping and 3D topography rendering. An experimentally derived compensation formula minimizes pyroelectric-induced errors, ensuring accurate pressure readout under varying temperatures. The tactile recorder visualizes and stores signals for subsequent analysis of surface texture and temperature-dependent tactile responses. This work demonstrates a structurally simple yet functionally rich platform for tactile sensing and recording in artificial tactile interfaces.