Development of a 3D tactile sensor

This paper is a study on the development of a sensor for detecting the catheterʹs contact conditions. The sensor is composed of a rubber layers, cupper plates and three strain gauges. The sensor is assumed to be mounted on the tip of a catheter, and it is hollowed for the work space of the catheter. The equations relating the sensor output with the contact conditions are formulated in the three gauges output. The obtained results show the good correspondence of the estimated contact information with the applied conditions.