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JOURNAL OF MICROELECTROMECHANICAL SYSTEMS, VOL. 16, NO. 3, JUNE 2007 IEEE
A Polymer-Based Flexible Tactile Sensor for Both Normal
and Shear Load Detections and Its Application for Robotics
Paper Survey
Advisor：Prof C-H Chuang
Advisee：Jian-Liang Mu（穆建良）
Institute of Mechanical-Engineering-Department
Date：2012-07-27
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Outline
• Sensing principle and sensor structure
• Fabrication steps
• Application to a humanoid robot as a ground reaction force (grf) sensor
• Conclusion
• Future work
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Schematic view of the proposed
tactile sensor
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Normal and shear load
sensing principles
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Fabrication steps for the realization
of the proposed device
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Optical photographs of the fabricated
flexible tactile sensor
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output voltages versus normal loads
and shear loads
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Performance test of the GRF sensor
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Sensor module
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GRF sensor test
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Measurement of the GRF with the GRF
sensor module.
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Future Work
• Paper Survey
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Thanks for your attention
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