Abstract
We propose a method to measure the shapes of solid surface with a strain sensor. Our device is comprised of two different kinds of cantilevers, which are 8 pressure and 7 shear stress sensors, arrayed alternately in line by 5.0 mm and covered by silicone rubber. Our device offers the detection of concavo-convex shapes by scanning the surface of the object once. With pressing, releasing and sliding motion, our device detected one convex shape within a 1.0 mm error and two convex shapes within a 3.0 mm error. In addition, we demonstrated that various types of object shapes were detected by our device with tracing motion.
