Patent ID: 8604364

Claim:
A method for measuring the angle of roll of a finger in contact with a tactile sensor array by a processor, the method comprising: obtaining tactile array measurement data from the tactile sensor array, the tactile array measurement data comprising tactile array measurement values; processing the tactile array measurement data with at least one data array processing algorithm by the processor, resulting in processed tactile array measurement data; performing a first identification operation for identifying edge information of the processed tactile array measurement data, the edge information comprising at least one edge of a region of contact of the finger with the tactile sensor array, the first identification operation resulting in edge location data; performing a second identification operation by the processor for identifying a peak region of the processed tactile array measurement data, the peak region comprising a portion of the region of contact of the finger with the tactile sensor array having the highest tactile sensor measurement values of force within the region of contact, the second identification operation resulting in peak location data; and calculating a relative roll angle measurement of the finger, the calculation employing the edge location data and the peak location data, the calculation resulting in roll angle measurement data.