Dielectric liquid-based tactile sensing array with tunable sensing range using dielectric force for dynamic tactile sensing

This paper presents a novel sensing array with tunable sensing ranges for dynamic tactile sensing. Each element in the array contains a droplet with variable shape. By controlling the dielectric force applying on the droplet, the shape of the droplet can be controlled. The sensing range was tuned due to the variation of the droplet shape. This sensing array can be not only used in static tactile sensing but also in dynamic tactile sensing. The experiment result shows the sensing range, from 0.6 N to 1.05 N, can be tuned in 100 ms.