Experimental Analysis of a Soft Compliant Tactile Microsensor to be Integrated in an Anthropomorphic Artificial Hand

This paper presents the experimental analysis of a high shear sensitive 1.4mm³ three-axis force microsensor embedded in a soft, compliant and flexible packaging with minimum thickness of 2mm. The study is aimed at investigating the response of the tactile microsensor when it is stimulated with a combination of normal and shear loads. Experimental analysis is focused on the transient phenomena when a change of static to dynamic friction occurs at the packaged microsensor surface during interaction with an external object. According to a bioinspired design approach that is based on the emulation of natural mechanoreceptors of the human skin for providing appropriate tactile event encoding, the transient behaviour quantitative analysis is fundamental for assessing if the sensor is applicable in an artificial hand for controlling grasping and manipulation of an object.