In this paper, a new type three-dimensional (3-D) tactile sensor developed by using piezoresistive conductive ink (PRCI) as the sensitivity material is introduced. The PRCI is a new type sensitivity material with desired piezoresistive characteristics and can be made as a thin sensing film. The mechanism of 3-D force measurement by using the PRCI was discussed. Moreover, by using the flexible printed circuit (FPC) technology, a sensor prototype with a small size and a light weight was designed. An experimental test system was constructed to use the prototype to measure normal force loads, and the linearity test and the resolution test were implemented. Experimental results indicated that the sensor had a nonlinearity error of less than 5.5%, and a resolution of less than 0.01N.
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