Force and Tactile Sensing for Robots

  • P. Dario
  • M. Bergamasco
  • A. Fiorillo
Part of the NATO ASI Series book series (volume 43)


This paper deals with methods and techniques for sensing and controlling contact forces originated by the physical interaction of a robot with the environment.

Contact sensing includes force and tactile sensing. A distinction between these two sensing modalities is that force sensing refers primarily to the measurement of the resultant mechanical effects of contact, while tactile sensing involves the detection of a wide range of local parameters (physical and chemical) affected by contact.

This paper is comprised of a section in which force sensing techniques and devices usable in different classes of robots are discussed, and a second section dealing with true tactile sensing. In each section the motivations and the general problems encountered in each sensing modality are analyzed first, then the state of the art of related sensing technologies is surveyed.

In a third section, a coherent approach is presented to the problem of replicating human tactile sensing capabilities in an artificial robotic system. The advantage of this approach is to allow a comprehensive analysis of the sensory, motor, and control components of an advanced robot system, as well as to illustrate the roles of force and tactile sensing, and the importance of their coordination, in artificial tactile perception.


Contact Force Joint Torque Tactile Sensor Robot Hand Ferroelectric Polymer 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1988

Authors and Affiliations

  • P. Dario
    • 1
  • M. Bergamasco
    • 1
  • A. Fiorillo
    • 1
  1. 1.Centro “E. Piaggio”University of PisaPisaItaly

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