A tactile sensor signal processing device includes a tactile sensor using a piezoelectric vibrator, a resonant resistance change detect unit, a resonant frequency change detect unit, a vibrator constant storage unit, and a signal processing unit. The resonant resistance change detect unit detects a change in resonant resistance of impedance characteristics of the piezoelectric vibrator. The resonant frequency change detect unit detects a change in resonant frequency of impedance characteristics of the piezoelectric vibrator. In the vibrator constant storage unit are stored in advance physical constants that include the size of the vibrating portion of the piezoelectric vibrator, piezoelectric and coupling constants associated with the piezoelectric mode of the piezoelectric vibrator, the density of the piezoelectric vibrator, and the size of a contact which is brought into contact with a subject to apply vibrations to it. The signal processing unit computes independently each of the real part and the imaginary part of shear elastic modulus indicating the viscoelastic characteristics of the subject on the basis of the results of detection by the resonant resistance change detect unit and the resonant frequency change detect unit and the physical constants stored in the vibrator constant storage unit.
Tactile sensor signal processing device capable of obtaining detailed living body information in short time