During the last decades, smart tactile sensing systems based on different sensing techniques have been developed due to their high potential in industry and biomedical engineering. However, smart tactile sensing technologies and systems are still in their infancy, as many technological and system issues remain unresolved and require strong interdisciplinary efforts to address them. This paper provides an overview of smart tactile sensing systems, with a focus on signal processing technologies used to interpret the measured information from tactile sensors and/or sensors for other sensory modalities. The tactile sensing transduction and principles, fabrication and structures are also discussed with their merits and demerits. Finally, the challenges that tactile sensing technology needs to overcome are highlighted.

In this paper we describe the system architecture and prototype measurements of a MEMS gyroscope system with a resolution of 0.025The architecture makes extensive use of control loops, which are mostly in the digital domain. For the primary mode both the amplitude and the resonance frequency are tracked and controlled. The secondary mode readout is based on unconstrained Σ∆ force-feedback, which does not require a compensation filter in the loop and thus allows more beneficial quantization noise shaping than prior designs of the same order. Due to the force-feedback, the gyroscope has ample dynamic range to correct the quadrature error in the digital domain. The largely digital set-up also gives a lot of flexibility in characterization and testing, where system identification techniques have been used to characterize the sensors. This way, a parasitic direct electrical coupling between actuation and readout of the mass-spring systems was estimated and corrected in the digital domain. Special care is also given to the capacitive readout circuit, which operates in continuous time.

A careful analysis of the dynamics of the pull-in displacement reveals a metastable transient interval for devices with a Q factor lower than 1.2. The duration of this metastable regime could be up to 20 ms for the structure used in this work, depending on the damping. For typical device dimensions this regime dominates pull-in dynamics. This paper explicitly focuses on the metastable regime. The results of numerical simulations are confirmed with measurement results with the purpose of providing a better understanding of the underlying mechanisms. This may contribute to both improved actuator design and enhanced sensitivity of pressure sensors and accelerometers operating on pull-in time interval measurement. The sensitivity of the pull-in time to external accelerations is 6 × 10−2 s/ms−2 (∼0.6 ms mg−1) for current devices and can be increased by design.

The oBESS can reliably predict total BESS scores in healthy subjects. Pending further validation, oBESS could represent a valid tool to assess balance by offering an objective and reliable alternative to the current scoring methods of the BESS.