Flexible Three-Dimensional Force Tactile Sensor Based on Velostat Piezoresistive Films

The development of a high-performance, low-cost, and simply fabricated flexible three-dimensional (3D) force sensor is essential for the future development of electronic skins suitable for the detection of normal and shear forces for several human motions. In this study, a sandwich-structured flexible 3D force tactile sensor based on a polyethylene-carbon composite material (velostat) is presented. The sensor has a large measuring range, namely, 0-12 N in the direction of the normal force and 0-2.6 N in the direction of the shear force. For normal forces, the sensitivity is 0.775 N-1 at 0-1 N, 0.107 N-1 between 1 and 3 N, and 0.003 N-1 at 3 N and above. For shear forces, the measured sensitivity is 0.122 and 0.12 N-1 in x- and y-directions, respectively. Additionally, the sensor exhibits good repeatability and stability after 2500 cycles of loading and releasing. The response and recovery times of the sensor are as fast as 40 and 80 ms, respectively. Furthermore, we prepared a glove-like sensor array. When grasping the object using the tactile glove, the information about the force applied to the sensing unit can be transmitted through a wireless system in real-time and displayed on a personal computer (PC). The prepared flexible 3D force sensor shows broad application prospects in the field of smart wearable devices.