3D printed capacitive shear and normal force sensor using a highly flexible dielectric

We have investigated an entirely 3D printed capacitive sensor. Using a combination of 4 variable capacitors it allows to simultaneously measure shear and normal forces. To guide the design and analysis the behavior of the sensor has been modeled using both finite element method (FEM) simulations and an analytical model. The sensor was tested in a mechanical test setup by means of a linear actuator, loading the sensor with a force from various angles. The sensor showed it was able to measure both the normal and shear force components with a maximum noise floor of 1.5 N.