Fig.1 Tactile sensor skin.
It is soft, stretchable, and capable of covering a large area.
Measured data are multi-hopped
by sensor/communication chips. (Cell-bridge system)
Fig.2 Sensor element.
Fig.3 Outputs of sensor element (Capacitance variations).
A capacitive sensor element consisting of two layers of
compressible insulators which have different hardness.
Not only contact force but also contact area are
estimated from the capacitance variations of the two layers.