Abstract: A tactile sensor including a first insulating layer, a first sensing layer of a first conductive soft polymer material, a second sensing layer of a second conductive soft polymer material and a second insulating layer. The first sensing layer includes first electrically conductive strip located therein and the first sensing layer is positioned above the first insulating layer. The second sensing layer includes second and third electrically conductive strips located therein and the second sensing layer is positioned above the first sensing layer. The second and third electrically conductive strips are arranged within a first plane located within the second sensing layer, separated by the second conductive soft polymer material. The first and second electrically conductive strips are arranged within a second plane transverse to the first plane, separated by the first conductive soft polymer material. The second insulating layer is positioned above the second sensing layer.

Abstract: A tactile sensor including a first insulating layer, a first sensing layer of a first conductive soft polymer material, a second sensing layer of a second conductive soft polymer material and a second insulating layer. The first sensing layer includes first electrically conductive strip located therein and the first sensing layer is positioned above the first insulating layer. The second sensing layer includes second and third electrically conductive strips located therein and the second sensing layer is positioned above the first sensing layer. The second and third electrically conductive strips are arranged within a first plane located within the second sensing layer, separated by the second conductive soft polymer material. The first and second electrically conductive strips are arranged within a second plane transverse to the first plane, separated by the first conductive soft polymer material. The second insulating layer is positioned above the second sensing layer.

Abstract: A tactile sensor including a first insulating layer, an intermediate layer of conductive soft polymer material, and a second insulating layer. The intermediate layer includes first and second electrically conductive strips located therein and the intermediate layer is positioned above the first insulating layer. The first and second electrically conductive strips are located within the same horizontal plane within the intermediate layer and the first and second electrically conductive strips are connected to an impedance measuring device.

Abstract: A tactile sensor including a first insulating layer, an intermediate layer of conductive soft polymer material, and a second insulating layer. The intermediate layer includes first and second electrically conductive strips located therein and the intermediate layer is positioned above the first insulating layer. The first and second electrically conductive strips are located within the same horizontal plane within the intermediate layer and the first and second electrically conductive strips are connected to an impedance measuring device.