Abstract: A sensor for sensing and quantifying the conformity of a workpiece surface contour to a predetermined design contour. The sensor consists of an array of capacitor elements on a surface having the negative image of the predetermined design contour, against which the workpiece is mated. In operation, each of the capacitor elements and the workpiece are connected to a corresponding oscillator circuit so that the frequency of each circuit is a function of the capacitance between the individual plate element and the workpiece, while the capacitance is a function of the distance between the individual plate element and the workpiece. Hence the overall output of the circuits is a function of the conformity of the workpiece surface contour to the contour or topology of the sensor surface.

Abstract: An arrangement for a tactile sensing system involved in the determination of object shape, contour, orientation and detection of slip finding one use in real time control of robotically manipulated tools. The sensor uses contact between the object and a gripper upon which the sensor is disposed wherein the object surface forms one plate of the sensing electrode.