Fluidic Tactile Sensor

A tactile sensing apparatus comprising:

• a distal phalanx of a robotic digit;
• and
• a tactile sensor attached to the distal phalanx, the tactile sensor comprising:
• a core having a dorsal side and a ventral side, the core coupled to the distal phalanx at the dorsal side;
• an elastic skin having an inner surface and an outer surface, the elastic skin coupled to the core with the inner surface extending over the ventral side of the core;
• at least one cell encapsulated between the ventral side of the core and the inner surface of the skin, the at least one cell filled with a gaseous fluid, wherein a fluid pressure inside the at least one cell is responsive to a contact force applied to the outer surface of the elastic skin;
• and
• a pressure transducer communicatively coupled to the at least one cell to measure the fluid pressure in the at least one cell.