This paper aims to apply CT (Computerized Tomography ) to the development of tactile sensor for robotics. The new tactile sensor consists of arrays of infrared emitting diodes, arrays of receiving phototransistors, a transparent plate of silicon rubber and black silicon rubber featuring with an array of conical feelers. The changed intensities are served as projection data for CT reconstruction. Since only a few numbers of projection data are available due to the configuration of the tactile sensor, ART (Algebraic reconstruction Technique) was employed to fulfill CT reconstruction. Computer simulation was performed to verify the ART algorithm and an experimental system was established on the basis of the computer simulation results. It was found that the pressure distribution could be reconstructed while the reconstruction accuracy remains to be improved.
