Tactile sensing cube measuring stress tensor

We propose a tactile sensing cube that is a rectangular rigid body with symmetrically-located stress sensors and embedded in an elastic body. The sensor measures stress tensor applied to the elastic body and can distinguish between shear and non-uniformly distributing normal stress applied to the surface of the body. The previously reported tactile sensors could not distinguish these stresses. In this paper, we verify the detection principle qualitatively by FEM simulation of two dimensional model and we show the result of basic experiments using a prototype.