Abstract
This paper describes a new capacitive tactile sensor for shear and normal force measurements. The spatial sampling principle has been applied to measure the capacitance values efficiently and to transfer the spatial capacitance distribution into the time domain. The shear and normal forces are determined by measuring variations in the phase and amplitude of the output signal, respectively. A first experimental model of the sensor shows a resolution of 0.05 N over the range of 10 N for both shear and normal force measurements.
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