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This paper presents a flexible capacitive tactile sensor array embedded with a truncated polydimethylsiloxane pyramid array as a dielectric layer. The proposed sensor array has been fabricated with 4 × 4 sensor units. The measurement ranges of forces in the x-axis, y-axis, and z-axis are 0-0.5, 0-0.5, and 0-4 N, respectively. In the range of 0-0.5 N, the sensitivities of the sensor unit are 58.3%/N, 57.4%/N, and 67.2%/N in the x-axis, y-axis, and z-axis, respectively. In the range of 0.5-4 N, the sensitivity in the z-axis is 7.7%/N. Three-axis force measurement has been conducted for all the sensor units. The average errors between the applied and calculated forces are 11.8% ± 6.4%. The sensor array has been mounted on a prosthetic hand. A paper cup and a cube are grasped by the prosthetic hand and the three-axis contact force is measured in real time by the sensor array. Results show that the sensor can capture the three-axis contact force image both in light and tight grasping. The proposed capacitive tactile sensor array can be utilized in robotics and prosthetic hand applications.
Liang et al. (Mon,) studied this question.