Why sensors?

1. Motion control variables, detection: Information about joint position velocity and
acceleration (Internal state sensors)
2. Robot guidance without obstruction: Vision and Range sensors (non-contact)
3. Object identification tasks: Proximity and touch sensors (Contact type)
4. Handling the objects: Force and Torque sensors (Contact type)
Visual Sensors (Electro Optical Imaging Sensors)
Electro optical imaging sensors use solid state cameras interfaced with a vision processor.
The cameras scan a scene, measure the reflected light intensities within a raster of say 128
128 pixels, convert these intensity values to analog and then binary electrical signals and
feed the stream of information serially into the processer. The signals are stored in the
computer's memory and processed in real time with consequent reduction of memory
requirements. Solid-state image transducers (CCD or CJD) and laser scanners are the
vision sensors most commonly used in robotics.
Tactile Array Sensors: Tactile sensing arrays are capable of yielding touch information
over a wider area than afforded by a single sensor. A tactile array sensor is a special type
of force sensor composed of a matrix of force sensing elements. The force data provided
by this type of device may be combined with pattern recognition techniques to describe a
number of characteristics about the impression in contact with the array sensor surface,
like
(i)

the object's presence, contact area, shape, location and orientation,

(ii)

the pressure and pressure distribution, etc.

Tactile array sensors can be mounted in the fingers of the robot gripper or attached to a
work table as a flat touch surface.

Various plastic materials and synthetic rubber are used to produce materials with elastic
properties, which are called elastomers, and can be used to make skin for a robot gripper.
Conductive elastomers can provide feedback signals which are proportional to the acting
forces.