A VLSI Tactile Sensing Array Computer

Abstract

Here we describe a device that is at once a special purpose parallel computer and a high resolution tactile array sensor. We are interested in extending the technology that gives a robot manipulation system information about contact between the manipulator hand and its environment. We have replaced the passive substrates of earlier tactile sensors with a custom designed LSI device that handles transduction, computing, and communication. Large metal electrodes on the surface of the device are placed in contact with a conductive rubber. Deformations of this elastic material are sensed by measuring changes in its local resistivity. The sensory architecture eases the problem of connecting the transducer and computer by using an array of processors to filter and reduce raw data before communication. Since large arrays covering an entire intact wafer are planned, the design includes backup redundancy for the computing elements, and mechanisms for automatic replacement of failed elements.