3D flexible tactile sensor using electromagnetic induction coils

A 3D flexible tactile sensor has been fabricated based on the principle of electromagnetic induction. A force applied to the proposed elastomer-based sensor causes mechanical deformations in the sensor structure, which subsequently alter the induced voltage of each coil couple embedded in the sensor. The magnitude and direction of forces can be calculated with that induced voltages data through generalized transfer functions. A 3-axis force sensing capability and repeatability with an average standard deviation of 0.109 mV are achieved with a simple fabrication process and low cost. The proposed sensor could satisfy demands of tactile sensing in various robotic applications as well as 3D force measurement works.