A Tent Map BasedA/DConversion Circuit for Robot Tactile Sensor

Abstract

Force and tactile sensors are basic elements for robot perception and control, which call for large range and high-accuracy amplifier. In this paper, a novelA/Dconversion circuit for array tactile sensor is proposed by using nonlinear tent map phenomenon, which is characterized by sensitivity to small signal and nonlinear amplifying function. The tent map basedA/Dconversion circuits can simultaneously realize amplifying andA/Dconverting functions. The proposed circuit is not only simple but also easy to integrate and produce. It is very suited for multipath signal parallel sampling andA/Dconverting of large array tactile sensor.