A Tent Map Based 𝐴/𝐷 Conversion Circuit for Robot Tactile Sensor

Table 1

Results of the A/D conversion.

Sensitive element	(8, 1)	(8, 2)	(8, 3)	(8, 4)	(8, 5)	(8, 6)	(8, 7)	(8, 8)
Output value (mV)	0	0	0	0	25	80	188	246
Gray code; 𝑔0𝑔1𝑔2𝑔3𝑔4𝑔5𝑔6𝑔7	00000000	00000000	00000000	00000000	00000101	00011111	00101000	00100001
Binary code; 𝑏0𝑏1𝑏2𝑏3𝑏4𝑏5𝑏6𝑏7	00000000	00000000	00000000	00000000	00000110	00010101	00110000	00111110
Calculated value (mV)	0.0	0.0	0.0	0.0	23.4	82.0	187.5	242.2
Sensitive element	(8, 9)	(8, 10)	(8, 11)	(8, 12)	(8, 13)	(8, 14)	(8, 15)	(8, 16)
Output value (mV)	310	230	170	67	33	0	0	0
Gray code; 𝑔0𝑔1𝑔2𝑔3𝑔4𝑔5𝑔6𝑔7	01101000	00100111	00111110	00011001	00001100	00000000	00000000	00000000
Binary code; 𝑏0𝑏1𝑏2𝑏3𝑏4𝑏5𝑏6𝑏7	01001111	00111010	00101011	00010001	00001000	00000000	00000000	00000000
Calculated value (mV)	308.5	226.5	168.0	66.4	31.3	0.0	0.0	0.0