Tactile sensor for measuring of normal force shear force and torsion force

摘要

A shear load, and a torsional load externally applied only through the change of the moving direction of the electrode and the contact area, and simultaneously measures the vertical load, the shear load, and the torsional load. The contact sensor includes a lower electrode, and an upper electrode. At least one groove is formed on the upper surface of the lower electrode. The upper electrode is disposed on the upper portion of the lower electrode. The upper electrode is formed in a shape corresponding to the groove and is inserted into the groove. The upper electrode is formed on the lower surface of the lower electrode. The upper electrode has an X axis direction, a Y axis direction, And the contact area with the lower electrode increases or decreases. The tactile sensor measures the vertical load, the shear load, and the torsional load by measuring the amount of current change according to the contact area change between the lower electrode and the upper electrode.