%0 Journal Article
%T A Table-Shaped Tactile Sensor for Detecting Triaxial Force on the Basis of Strain Distribution
%A Jeong Il Lee
%A Min-Gyu Kim
%A Mitsuhiro Shikida
%A Kazuo Sato
%J Sensors
%D 2013
%I MDPI AG
%R 10.3390/s131216347
%X A slim and flexible tactile sensor applicable to the interaction of human and intelligent robots is presented. In particular, a simple sensing principle for decoupling of three-dimensional force is proposed. Sensitivity of the proposed tactile sensor is tested experimentally. To improve the sensitivity of the sensor, a table-shaped sensing element was designed. Table-shaped structure can convert an external acting force into concentrated internal stress. A ˇ°triaxial force decoupling algorithmˇ± was developed by combining two-dimensional mapping data calculated by finite element analysis. The sensor was calibrated under normal and tangential forces. The external loads applied to the sensor could be decoupled independently as a function of the strain-gauge responses.
%K tactile sensor
%K table-shaped structure
%K decoupling of triaxial force
%U http://www.mdpi.com/1424-8220/13/12/16347