A new multifunctional tactile sensor for three-dimensional force measurement

A cylindrical tactile sensor that can measure three-dimensional applied force based on multifunctional sensing technique is proposed. The central components of this sensor are three coils and a dielectric medium. A step-by-step method is used to realize multifunctional sensing and in each step a different quantity is sensed according to a different sensing way. On the basis of the unique structure of the sensor and ingenious measuring methods, the authors realized the purpose to test more than one quantity, that is, the perpendicular force component, the magnitude and direction of the horizontal force component, with a single sensor. We herein discuss the design guideline for and the structure of the sensor, with deep inquiries into the step-by-step measuring method and experimental results. (C) 2003 Elsevier B.V. All rights reserved.