Apparatus and method for surface and subsurface tactile sensation imaging

Abstract

A tactile sensor, computer readable medium, methods of using and manufacturing the tactile sensor, and methods and apparatuses for processing the information generated by the tactile sensor. The tactile sensor includes a planar optical waveguide comprised of a flexible and transparent layer; a light configured to direct light into the optical waveguide; a light sensor or an imager facing the optical waveguide and configured to generate signals from light scattered out of the optical waveguide; and a controller which may be configured to generate an image of the object and characteristics of the object. The waveguide may be configured so that some of the light directed into the optical waveguide is scattered out of the waveguide if the waveguide is deformed by being pressed against the object. A finite element and a neural network are used to estimate mechanical characteristics of the objects.

What is claimed is: 
     
         1 . A tactile sensor for generating an image of an object, the tactile sensor comprising:
 a planar optical waveguide comprised of at least a first layer that is flexible and transparent;   at least one source of light configured to direct light into the optical waveguide; and   a light sensor facing the optical waveguide and configured to generate signals from light scattered out of the optical waveguide,   wherein the waveguide is configured so that at least some of the light directed into the optical waveguide is scattered out of the first layer when the first layer is deformed, and wherein the first layer is deformed by the tactile sensor being pressed against the object.