Figure 1.

(A) Schematic diagram of the BioTac biomimetic tactile sensor. Sensing modalities include measurement of normal and shear forces detected by changes in impedance between electrodes as the conductive fluid pathways deform, slip-related microvibrations that propagate through the skin and fluid and are detected by the hydro-acoustic pressure sensor, and thermal properties as detected by a thermistor capable of detecting heat flow between the preheated core and contacted objects; (B) Orientations on BioTAC: the finger local coordinate frame has its origin in the center of the two electrode pairs and is coplanar with the flat surface of the core; (C) Electrode array map.