539 A Fingertip Tactile Sensor Prototype with Epidermal Ridges for Multi-Purpose Somatosensation
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This paper discusses a development in developing a fingertip tactile sensor emulating the major features of human fingertip. The proposed fingertip tactile sensor has epidermal ridges and distributed sensor elements, and could be used for roughness, stiffness, also normal and shear force, as well as torsional force detection. Experimental results suggest the proposed sensor has the capability to detect the contact state and the force information quantitatively.
