fig2

Figure 2. 3D solid mechanics simulation results of the tactile sensor. (A) Deformation of the tactile sensor when normal stress and shear stress are applied; (B) Normal stress and (C) shear stress induced average strains of four cantilevers where the piezoresistors are located; (D) Normalized deformation of the four cantilevers when the angle of shear stress changes from 0° to 180°; (E) Differencing and (F) summation results of the average strains of Hair 1 and Hair 3 when both normal stress and shear stress are applied.