Abstract: A method of manufacturing a fluidic tactile sensor includes forming a mold insert having an insoluble sensor core and a soluble skin insert attached to an outer surface of the sensor core. An elastic skin is molded over the mold insert to form a sensor preform in which the skin insert is encapsulated between the elastic skin and the sensor core. The skin insert is removed from between the elastic skin and the sensor core, at least partly by dissolving the skin insert in a solvent, to form a sensor body having one or more cells between the elastic skin and the sensor core. A pressure sensing circuit is attached to the sensor core of the sensor body.

Abstract: A fluidic tactile sensor includes a core having an outer surface, channels formed within the core, and an elastic skin disposed over a surface portion of the outer surface. Cells are formed between the surface portion and the elastic skin. Each cell is connected to one of the channels through an opening of the channel on the surface portion. Compressible fluid volumes extend between the elastic skin and the core. Each compressible fluid volume includes a first fluid volume formed inside one of the cells and a second fluid volume formed inside the channel connected to the one of the cells. The first and second fluid volumes contain portions of a continuous compressible fluid medium. A contact force applied to the elastic skin at a location corresponding to a given cell produces a measurable change in a fluid pressure of the continuous compressible fluid medium associated with the given cell.

Abstract: A fluidic tactile sensor includes a core having an outer core portion, an inner core portion, and a first channel having a first opening at a first surface portion of the outer core portion. An elastic skin is disposed over the first surface portion. A cell is formed between the first surface portion and the elastic skin and fluidly is fluidly connected to the first channel. The cell contains a fluid. A contact force applied to the elastic skin produces a measurable change in fluid pressure inside the cell.