Input/output wires for tactile sensor using tri-axial force sensors

摘要

Disclosed is a wiring structure for a tactile sensor, comprising, a substrate and n² tactile sensor units formed on the substrate and arranged in an n×n matrix, whereby the tactile sensor senses a contact force with an external object based on a tactile signal provided from each of the tactile sensor units. Each tactile sensor unit is a tri-axial force sensor with first to fourth piezo-resistors placed in the four directions of upper, lower, left and right sides, to sense a contact force with respect to X and Y axes in parallel with the substrate and the Z axis perpendicular to the substrate, and the tactile sensor includes a total of 4n input/output wires that have 2n input lines connected to one side of the piezo-resistors and 2n output lines coupled with the other ends of the piezo-resistors.