A new type of force sensor for contact tasks

The present paper describes a new type of force sensor having the properties of passive compliance, capable of sensing two components of the contact force. The device is based on the use of simple single-component tactile sensors. It is especially convenient for placing on the gripper fingertips with the aim of controlling force along the object axis and obtaining information about the pressure profile at the contact surface between the object and the gripper. A sensor´s prototype has been built and some of its basic features were experimentally verified.