A Sensor Structure for Force Vector Measuring Based on Multifunctional Sensing Technique

In this study, we propose a multifunctional cylindrical tactile sensor structure to test the magnitude and direction of the contact force in the case of imitating the human finger. This sensor consists of two coils and two media. A step-by-step method is used to realize multifunctional sensing, and in each step, a different quantity is sensed. On the basis of the unique structure of the sensor and ingenious measuring methods, the authors realized testing of more than one quantity, that is, the magnitude and direction of the contact force, with a single sensor. A detailed analysis of the step-by-step method for the sensor is performed.