Multi-axis dielectric liquid-based tactile sensor with tunable sensing range and sensitivity

This paper presents a novel multi-axis tactile sensor has tunable sensing ranges and sensitivity. A low dielectric constant (ε_r) droplet covered with high ε_r liquid are employed as the dielectric material of this sensor. The sensing range and sensitivity can be adjusted by varying the shape of the droplet by controlling the dielectric force supplied by driving voltage. The results show the sensor is capable of multi-axis force sensing. The normal force sensing range is adjustable from 0 mN ~ 400 mN to 0 mN ~ 250 mN. And the sensitivity of the sensor for normal/shear force can be tuned 1.6/1.4 times greater than the sensor in its original state.