Detection of Normal Force, Bending, and Torsion Using MEMS Tactile Sensor Embedded in Flexible Sheet

Abstract

The control of human motion depends heavily on tactile sensation; hence it is important to understand this sensation digitally in the analysis of motion such as grasping. When representing tactile sensation digitally, a sensor that converts the grip force, bending, and torsion generated during grasping into data is necessary. In this study, an ultra-small tactile sensor was embedded in a flexible elastomer sheet, and its response to applied force, bending, and twisting was measured and investigated. As a result, it is demonstrated that this sensor can be used to obtain responses not only to force but also to the amount and direction of bending and torsion.