Schematic cross-section illustrating three sensing modalities:

1. The location and force vector of contact with an object (large arrow) are sensed by an array of electrodes molded into the surface of a rigid core containing all of the signal processing electronics. As the elastic skin is displaced, the conductive fluid covering the electrodes is displaced, producing large, widespread changes in the measured impedance of each electrode.

2. Microvibrations of the skin caused by sliding over textured surfaces are sensed as sound waves by the pressure sensor attached to the fluid path.

3. The temperature of the heated core and fluctuations that arise from contact with various objects are sensed by a thermistor.

All of the sensory data are digitized and multiplexed on a single SPI bus that emerges from the core on a ribbon cable.  Multiple DigiTACs can be attached as the fingers of mechatronic hands.

There are no exposed electromechanical components or connections, so the DigiTAC can be used in wet or gritty environments.  The molded skin is designed for easy replacement as it becomes worn.