Dielectrical liquid-based tactile sensing array with adjustable sensing ranges and sensitivity

This paper presents a novel tactile sensing array with adjustable sensing ranges. Each sensing element contains a low dielectric constant (ε_r) droplet covered with high ε_r liquid. We controlled the contact angle of the droplet by controlling the electric flux passing through the element. Then, the sensing ranges and sensitivity were also adjusted due to the variation of the droplet shape. The results show the sensor´s sensing range is easily adjusted from 0.33N ~ 1.05N to 0.04N ~ 0.60N. And the sensitivity is also adjusted from 1.47pF/N to 2.90.pF/N.