The detection of haptic information indicating applied forces at interfaces is important for the evaluation of human motions. Haptic sensing technologies have been introduced and extensively studied in the field of robotics and virtual reality. Measurements of both the contact pressure and shear-stress are required for the development of functional sensor system. In the application of usual haptic sensor systems, there are few studies for sensing the shear-stresses [1,2]. Furthermore, there is no report for developing the very thin and flexible sensor for shear-stress distribution at the contact interface. We have proposed a thin and flexible sensor using pressure-sensitive materials for measuring both the contact pressure and shear-stress [3]. The sensor unit size should be less than 1 mm thickness by considering the electrode pattern and selection of the pressure-sensitive materials in the process of sensor design. In this...

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