A Shear Stress Sensing for Robot Hands -Orthogonal arrayed Piezoresistive Cantilevers standing in Elastic Material-

We propose a shear stress sensor that uses standing cantilevers embedded in an elastic material. Each cantilever independently measures one directional component of the shear stress applied to the sensor surface. We orthogonally arrayed these standing cantilevers, so that the directions and the magnitudes of applied shear stresses are detected. The efficiency of this sensor was experimentally confirmed in the range of – 5.0 to 5.0 kPa. By using this sensor, the directions and magnitudes of 2.45 kPa shear stresses, applied from 12 different directions, were detected.