A Tactile Void

TL;DR

This paper presents a biomimetic tactile sensor using a gas cavity in an elastic semi-cylinder, demonstrating its ability to detect textures through cavity shape fluctuations, with implications for understanding mechanoreceptor responses.

Contribution

It introduces a novel tactile sensor model mimicking mechanoreceptors with a gas cavity, combining experiments and elastic modeling to analyze deformation and texture discrimination.

Findings

Cavity shape fluctuations enable texture discrimination.

Elastic model predicts cavity deformation under load.

Membrane stresses are anisotropic, affecting response.

Abstract

We mimic the mechanical response of touch mechanoreceptors by that of a gas cavity embedded in an elastic semi-cylinder, as a fingertip analogue. Using tribological experiments combined with optical imaging, we measure the dynamics and deformation of the cavity as the semi-cylinder is put in static contact or slid against model rough surfaces at constant normal force and velocity. We propose an elastic model to predict the cavity deformation under normal load showing that membrane mechanical stresses are anisotropic and we discuss its possible biological consequences. In friction experiments, we show that the cavity shape fluctuations allow for texture discriminations.