Problem 2 A tactile (distributed touch) sensor of the gripper of a robotic manipulator consist of a matrix of piezoelectric sensor elements placed 2 mm apart. Each element generates an electric charge when it is strained by an external load. Sensor elements are multiplexed at very high speed in order to avoid charge leakage and to read all data channels using a single high-performance charge amplifier. Load distribution on the surface of the tactile sensor is determined from the charge amplifier readings, since the multiplexing sequence is unknown. Each sensor element can read a maximum load of 50 N and can detect load changes in the order of 0.01 N. (a) What is the spatial resolution of the tactile sensor? (b) What is the load resolution (in N/m2) of the tactile sensor? (c) What is the dynamic range