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. 2012 Jul 23;6:6. doi: 10.3389/fnbot.2012.00006

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Copyright © 2012 Pape, Oddo, Controzzi, Cipriani, Förster, Carrozza and Schmidhuber.

This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in other forums, provided the original authors and source are credited and subject to any copyright notices concerning any third-party graphics etc.

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Pictures of the experimental setup. (A) Tactile platform with (1) the robotic finger, (2) actuator modules, (3) sensor processing facilities, and (4) housing for replaceable surface blocks. (B) Surfaces used in tactile skill learning experiments. From top to bottom: two regular-grated plastic surfaces with 320 and 480 μm spacings, paper, and two denim textiles. The highlighted areas show enlargements of 2 × 2 mm areas. (C) Fingertip with a 2 × 2 tactile sensor array in the highlighted area, covered with finger-printed packaging material. The ruler shows the scale in cm. (D) Closeup of 2 MEMS tactile sensor units.