Abstract
A soft tactile sensor able to detect both normal and tangential forces is fabricated with a simple method using conductive textile. Owing to the multi-layered architecture, the capacitive-based tactile sensor is highly sensitive (less than 10 mg and 8 μm, for minimal detectable weight and displacement, respectively) within a wide normal force range (potentially up to 27 N (400 kPa)) and natural touch-like tangential force ranges (from about 0.5 N to 1.8 N). Being flexible, soft, and low cost, this sensor represents an original approach in the emulation of natural touch.