Fundamental issues of developing artificial tactile mechanical receptors designed for the sensoring of robotic and biomechatronic systems are discussed. The problems of diagnosing pathologies of soft biological tissues are considered. Possible approaches to processing data from video-tactile sensors are suggested, based on the methods of contact interaction mechanics. The problem of determining the form of a solid body using palpation is analyzed. Prospective studies of biomechatronic systems with tactile sensoring are reviewed. One of the components of such studies is the development of biomechanical models of artificial joints, analysis of contact interaction inside the joints and the change of form of the surface of the elements of the joints. The results of the analytical and numerical studies are compared with the experimental data obtained for particular robotic and biomechatronic systems.
|
