Abstract：This paper explores a model of piezo and pyroelectric polymer skin-like tactile sensor for robot. Here a method for pattern recognition by artificial tactile sensor is introduced. We began our study by considering some simple experiments, on the basis of which the transfer functions of the artificial skin are established. Then we describe how artificial skin recognizes hardness and smoothness. Finally, the structures of tactile sensors are shown for discussing.
 Jain R C. Segmentation of frame sequences obtained by a moving observer. IEEE Trans PAMI, 1984
 Dario P, Domenici C, Bardelli R, De Rossi D, Pinotti P C. Piezo-electric polymer:new sensor matcrials for robot application In Proc 13th Int Symp Industrial Robot, Chicargo, USA, 1983