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In this paper, we report a new flexible capacitive tactile sensor array with the capability of measuring both normal and shear force distribution using polydimethylsiloxane (PDMS) as a base material. A tactile cell consists of two thick PDMS layers with embedded electrodes, an air gap, and a pillar structure. The pillar structure is formed at the center of each tactile cell between the air gap under...
In this work, we have implemented a three-axis capacitive tactile sensor using PDMS as a base material. The sensor measures the deformation of PDMS membrane by contact force applied to each cell. In each tactile cell there are four capacitors to decompose the contact force into normal and shear components. In order to measure the shear force, a large bump and a pillar structure have been implemented...
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