CONFORMABLE PRESSURE SENSITIVE LAYER STRUCTURE AND TACTILE SENSORS SUITABLE FOR ROBOTIC LIMBS

摘要

A pressure sensitive layer structure (10) for a force sensor, the pressure sensitive layer structure comprising: a conformable support structure (15); and a first conductive layer (13) adhered to the conformable support structure. A force sensor (30) for a robotic part, the force sensor comprising: an electrode layer (31) configured into a shape of at least a portion of a robotic part; and a conductive layer (33) provided adjacent to and conforming to the shape of the electrode layer. A robotic limb and/or appendage comprising the force sensor. A force sensor (90) with a particular electrode layout (97). In some embodiments underlayers (11), protective layers (39), barrier layers (37) and lubricant. layers (35) are used.