By characterizing the dynamic forces on a tactile sensor, it is possible to extract a tactile image during a grasping or a releasing operation. By modifying this procedure, two processing techniques suitable for the real-time extraction of a tactile image are obtained. The case study validates these procedures using experimental data obtained during grasping and releasing operations carried out on a test object. The implementation steps are discussed, and the applicability of the technique for real-time task status interpretation is analyzed.>

The development of a tactile sensing system for an industrial robot gripper using a commercial force transducer is described. The hardware and software aspects of the system design are outlines and pertinent design details of the proposed finger are given. Performance evaluation tests were conducted on the prototype system fabricated in the laboratory. These tests results are analyzed to show how the proposed system can be used as a versatile tactile sensor to perform a variety of gripping tasks.>