"The idea is to have a tactile wheel that is able to detect and locate physical contact to the terrain surface on its circumference. A motorized tactile wheel was designed using 16 infrared sensors, which measure the tire deformation caused by the ground contact forces. This measurement gives the contact points an approximation of the normal contact forces acting on the wheel. The mechanical design allows the sensors to be fixed on the wheel hub. The advantage is that the sensors do not turn with the wheel rims and the tire."
Current Music: C17H19NO3 -- Carrier of Shadows ♬