In this paper we approach the problem of replicating some of the human tactile perceptual paradigms through the development of an anthropomorphic robotic testbed consisting of a single exploratory finger and of a sensorized platform. This artificial tactile sensing system has been purposely devised to execute simple humanlike sensory-motor acts ("tactile subroutines") which form the basis for more complex exploratory strategies. After describing the features of the hardware components of the tactile sensing system, both the phylosophy and the practical implementation of a set of exploratory subroutines are discussed. Finally, the results of a few experimental tests carried out in order to evaluate the usefulness of the proposed exploratory approach in the context of a robot workstation for the assistance of disabled persons, are reported.

This paper addresses the problem of optimal geometrical design for tactile sensors. To this aim the particular case in which sensor-object contact information can be reduced to the form of a binary tactile image is considered. Possible criteria for the evaluation of space-invariant (orthogonal and hexagonal grids) and space-variant (retina-like and "multifovea") dispositions of sensing elements are discussed. Simulation studies are carried on to compare space-invariant configurations in terms of rate of success in pattern recognition, and to evaluate the efficiency of the multifovea disposition in the calculation of position and orientation of sample objects. Finally, results obtained by applying different pattern recognition algorithms to the analysis of pseudovisual images provided by a real sensorized static platform are presented.