Physical Sensors

Physical Sensors

The tactile sensor network of iCub is organized into patches. A patch is a set of tactile sensors that are physically connected one to the other and that are read by the same microcontroller. In particular, 18 patches are mounted on the robot: - 1 in each hand - 2 in each forearm - 4 in each upper arm - 4 in the torso

Each patch is composed by (at most 16) triangular modules, each consisting of 10 tactile sensors (aka taxels), with two additional small ones that are thermal pads (7^th and 11^th element). The 4^th value corresponds to the taxel in the center of the triangle.

Note

Older skin version contained 12 taxels per triangle.