Research on Tactile Differentiator

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We proposed the Tactile Differentiator which can enhance the edge where the whisker passes. As an important measure for evaluating the signal jump just before and after passing over an edge, the edge enhancement factor was introduced. We showed that a simple whisker with L-shape can work as a nice Tactile Differentiator through experiments. For recognizing the mark given by dies, more than one probing are necessary and this might be equivalently achieved by mounting plural number of whiskers at the sensor base. Since F varies according to whisker shape, we can also design a Tactile Differentiator sensitive for particular inclination angle.