fig4

Figure 4. Characterization of the flexible tactile sensor. (A) Fabrication result of self-bending piezoresistive cantilevers; (B) Tactile sensor with the EHiE structure; (C) Experimental setup for tactile testing; (D) Fractional change in resistance variation with normal stress; (D) Fractional change in resistance variation with shear stress; (F) Fractional change in resistance when varying the direction of shear stress; (G) Good repeatability and durability after continuous about 5,000 normal stress loading-unloading cycles; (H) Good repeatability and durability after continuous about 5,000 shear stress loading-unloading cycles. EHiE: Embedded-hair-in-elastomer.