Abstract
Many physical principles have been explored for the realization of tactile sensors: resistive, inductive, capacitive, optoelectric, magnetic, piezoelectric and electroacoustic principles, in a variety of configurations. A key problem in the design of a tactile imager is the taxel density, determining the spatial resolution of the device. This paper reviews the various strategies and principles, discusses some particular design problems and gives the state of the art in tactile sensing.
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