Mathematical Modeling of a Tactile Sensor with Applications in Minimally Invasive Surgery

This paper describes mathematical modeling of a novel supported tactile sensor. This system has only three or four sensing elements instead of an array configuration. By writing a code, together with using the piezoelectric capabilities of the finite element analysis software, it is possible to extract the stresses developed in the tactile membrane along the edges of the sensing elements, and convert them to output electrical charges. The comparison between the proposed mathematical modeling and the experimentally obtained data shows good agreement.