Lig-Based Triaxial Tactile Sensor Utilizing Rotational Erection System

This paper reports a laser-induced graphene (LIG)based triaxial tactile sensor utilizing rotational erection system (RES). The proposed process realizes a sensing element with a piezoresistive layer by irradiating a polyimide (PI) film with two types of lasers only once each. Furthermore, the sensing element formed with origami/kirigami method maintains a three-dimensional structure by applying a single external force. The prototype triaxial tactile sensor fabricated by the proposed fabrication process responded independently to normal and shear forces.