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Tactile sensors can be based on different principles, including capacitive, resistive or optical methods, and are oriented to a broad range of applications, for instance in assistive or industrial robotics or rehabilitation and medicine in general [1]. The realization of the electronics depends on the specific approach and application, although there are a few major common concerns such as wiring, crosstalk or parasitic capacitors. Large tactile sensors with a high number of tactels (a tactel is a single sensing point on a tactile sensor array) and real-time operation are often required.

Some pre-processing on the sensory plane results in a reduction of the amount of information to be transmitted to the central decision unit [2�C10]. Moreover, detection and processing Inhibitors,Modulators,Libraries circuitry should be located near the sensor to avoid problems caused by long wiring runs. It also needs to have a low number of integrated circuits and Inhibitors,Modulators,Libraries I/O connections. This reduces the number of cables and allows it to be housed in hands and grippers.Many tactile Inhibitors,Modulators,Libraries sensors have been implemented with technologies that allow the incorporation of circuitry on the same substrate [7�C10]. These implementations achieve high spatial resolution, so they are suitable for applications such as Minimally Invasive Surgery (MIS), though they have also been developed for use in other environments such as industry.

The circuitry implemented on the same substrate performs the signal conditioning. This is common in capacitive sensors because stray capacitors are a key issue, and amplifiers based on switched capacitors can be realized [8]. Certain preprocessing for sensors able to detect normal and shear Inhibitors,Modulators,Libraries forces is also realized on chip, as well as switches to address the array. More complex processing can also be carried out such as that for preprocessing of the tactile image based on convolutions [10]. Nevertheless, most tactile sensor systems or artificial skins are composed of patches that contain integrated circuits on a printed circuit board (PCB). Large areas can be covered with these patches that form a network of smart sensors and communicate with a central processing unit through a serial bus [3,4].

Different devices can be used as the core of the hardware in these patches as discussed in the following paragraphs.ASICs to act as coprocessors for tactile sensors have been reported [5,6] and general purpose Integrated Circuits (ICs) have also been proposed Anacetrapib for that task [11]. They can undertake error reduction, compensate for interference and convert analog-to-digital. It is the best choice in terms of area and power efficiency. merely Moreover, slippage detection in manipulative tasks with hands or grippers has to be done in the range of 2�C4 ms.