Abstract
In this paper, a novel intrinsic tactile sensor for underwater robotic applications is presented, along with some experimental results. The sensor is based on optoelectronic components and therefore its design is quite simple and reliable. Moreover, it is suitable to be adapted to different mechanical configurations, allowing its integration in e.g. the fingers of robotic hands or on the wrist of a robot arm. In this paper, the basic principle and the design of the sensor are presented, describing also some prototypes developed for underwater applications. Experimental data are presented and discussed to illustrate the main features of the sensors.
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