Design & Characterization of a Bio-Inspired 3-DOF Tactile/Force Sensor for Human-Robot Interaction Purposes

This paper presents the design, fabrication and validation of HexaTactile, a soft tactile sensor array based on six barometers, each of which is covered by a silicone layer in the form of an incomplete pyramid. HexaTactile consists of six soft and highly sensitive tactile modules which are placed on six sides of a cube to allow simultaneous measurement of the force in the positive and negative directions along the x, y and z axes. Some of the advantages of this sensor can be regarded as its high precision, excellent linearity (coefficient of determination r
²
=0.99), low cost and low noise. The accuracy of the sensor is 0.01 N, within a range of 4 N and therefore HexaTactile can be suitably attached to a robot end-effector for safe human-robot interaction applications.