Force-dependent contact area excitation of FSR force sensor utilizing dome-shaped rubber element

This paper further investigates the novel way of exciting FSR sensors. The method introduces a force-dependent contact area excitation in which the engaged sensor area depends on the applied force. The deformation of the dome-shaped rubber element is used to introduce force-dependent contact area excitation. The assumption that the pressure distribution underneath the pressed dome-shaped rubber element is uniform is verified by the experiments.