Abstract: In a tactile sensor, a first conductive path made of an electrically resistive material, which is elastic, is fixed to a foil-like base. At points of intersection with good electrically conducting conductive paths, which are fixed to a second elastic foil, the first conductive path has a uniformly curved convex surface. If pressure is exerted on the second flat foil, then the convex surface of the first conductive path is deformed in the area where the pressure is exerted so that, in this area, the first good electrically conducting conductive path presses against the first conductive path over a pressure-responsive longitudinal area, so that the total resistance of the first conductive path changes in a pressure-responsive manner. By measuring the total resistance and the potential of the good electrically conducting conductive paths, the pressure exertion can be determined as to location and amount of pressure.

Abstract: A programming device for providing a signal relating to movement of a movable device. An inner part is connected to the part of the device to be programmed. A casing, which is controlled by the programmer's hand, surrounds the inner part. Measuring systems, which measure relative movements between the casing and the inner part resulting from moving the casing are placed between the inner part and the casing. These measuring systems consist of a sliding carriage moving linearly on the inner part and a ball located between two pins which are connected to the casing. The pins are surrounded by springs which are fixed, on one hand, to the casing and, on the other hand, to arms of the carriage guide. Movements of the sliding carriage relative to the inner part are measured.