We fabricated novel flexible capacitive tactile sensors that can detect both the direction and distribution of an applied force. The sensor consists of a conductive silicone rubber as a movable electrode and fixed electrodes formed on a poly(ethylene terephthalate) (PET) film with silver paste. The dimensions of sensor head are 10:4 × 10:4 × 0:8mm3. We developed the tactile sensor using screen-printing techniques and atmosphericpressure plasma pretreatments. We experimentally evaluated the tactile responses to the applied force. The sensor detected the input forcedistribution with a force ranging up to 10N. The flexible thin PET film substrate enables fitting to the tight space and curved surface, and this capacitive tactile sensor is applicable for low-cost controllers of cellular phones and personal computers.
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