A coil-based multifunctional three-dimensional tactile sensor

A cylindrical tactile sensor that can simultaneously measure a three-dimensional force based on multifunctional sensing technique is proposed. The central components of this sensor are two coils and a medium. A step-by-step method is used to realize multifunctional sensing, and in each step, a different physical quantity is sensed. On the basis of the unique structure of the sensor and ingenious measuring methods, the authors realize testing more than one physical quantity, that is, the magnitude and two direction angles of the contact force, with a single sensor. The paper discusses the design guideline for and the structure of the sensor, with deep inquiries into the step-by-step measuring method and experimental results.