fig7
![A brief review of miniature flexible and soft tactile sensors for interventional catheter applications](https://image.oaes.cc/4d8d5ab6-8caf-4369-a346-fffd4d7e9b8f/4894.fig.7.jpg)
Figure 7. Miniature piezoelectric tactile sensors for catheters. (A) A tactile sensor based on a PVDF film (left part) and its output voltage with respect to applied load (right plot)[64]. (B) A pressure sensor based on PVDF-TrFE copolymer film (left part) and its output voltage with respect to applied pressure (right plot)[13]. PVDF: Polyvinylidene fluoride.