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PapillArray Tactile Sensor Development Kit (v2.0) – Installation and Operation Manual

Document #: PTSDK_2.0_MAN_DEC21

1 Introduction

The PapillArray Tactile Sensor Development Kit (v2.0) is a system of (up to) two PapillArray Tactile

Sensor arrays and a Controller. Each PapillArray Tactile Sensor array can measure 3D

displacement, 3D force, and vibration on each sensing element, as well as global 3D force, global

3D torque, the onset of slip, and friction. The Controller supplies power for (up to) two sensors and

coordinates the simultaneous data acquisition from up to two PapillArray Tactile Sensors; i.e.,

coordinates sampling of the 9 pillars if one sensor is connected to the Controller, 18 pillars if two

sensors are connected to the Controller. The Development Kit is shipped with visualisation

software and (optional) C++ libraries for Windows and Linux environments and a ROS node for

developing software control algorithms using the sensor signals.

The main components of the PapillArray Tactile Sensor Development Kit (v2.0) are shown

in Figure 1.1, connected to a laptop running the visualisation software.

Figure 1.1 – The PapillArray Tactile Sensor Development Kit (v2.0). Laptop not included.

This document contains the installation and operation manual for the PapillArray Tactile Sensor

Development Kit (v2.0).

www.contactile.com

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