抄録
We propose a new multimodal tactile sensor for identification of objects. The proposed sensor integrates measurements of permittivity and optical reflectance by capacitance electrodes in a pair of CdS cells, electrical measurement of object stiffness, and contact voltage measurement into a single unit. Using this multimodal sensor, nine objects with different material properties (permittivity, reflectance, stiffness and contact voltage) can be identified. The proposed sensor may be applicable for a tactile sensor in robots.
