<title>Combined force and position polyvinylidene fluoride (PVDF) robotic tactile sensing system</title>

Abstract

This paper reports on a tactile sensing system with only three sensing elements. The magnitude and position of the applied force is obtained by utilizing triangulation approach combined with membrane stress, some information about shape of the contact object is obtained. The sensor is designed to overcome the problems of cross-talk between sensing elements, complexity and fragility which is associated with some PVDF tactile sensors arranged in matrix form. The theoretical analysis of the sensor is made and compared with experimental results. The limitation of the sensor is also reported.