... Robotica, Vol .22 , pp. 21 3- 22 1, ISSN 026 3-5747 Shinoda, H. (20 02) . Contact sensing, a state of the art, Trans. of Japanese Robotic Society, Vol .20 , No.4 , pp385-388, ISSN 028 9-1 824 (in Japanese) ... general-purpose use. The hemispherical 122 Mobile Robots, Perception & Navigation tactile sensor is mounted on the fingertips of a multi-fingered hand (Ohka, M. et al., 20 06). Figure 14 shows a schematic ... threshold line for contact area 128 Mobile Robots, Perception & Navigation Ǘ ( q) is designated to formulate the threshold effect. The pulse density, z is, (24 ) (25 ) As mentioned above, data...