Force and tactile sensors are basic elements for robot perception and control, which call for large range and high-accuracy amplifier.\r\nIn this paper, a novel A/D conversion circuit for array tactile sensor is proposed by using nonlinear tent map phenomenon, which\r\nis characterized by sensitivity to small signal and nonlinear amplifying function. The tent map based A/D conversion circuits can\r\nsimultaneously realize amplifying and A/D converting functions. The proposed circuit is not only simple but also easy to integrate\r\nand produce. It is very suited formultipath signal parallel sampling and A/D converting of large array tactile sensor.
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