Abstract
Robots can benefit from touch perception for enhanced interaction. Interaction involves tactile sensing devices, contact objects, and complex directional force motions (normal and shear) in between. We introduce a comprehensive theory unifying them to advance sensor design, explain shear-induced performance drops, and suggest application scenarios. Our theory, based on sensor isolines, achieves superresolution sensing with sparse units, avoiding dense layouts. Through structural analysis of the sensor perception field, force sensitivity, and contact object effects, we also explore the force direction influences: normal, tangential shear, and radial shear forces. The model predicts an inherent accuracy reduction under shear forces compared to pure normal forces. Validation used Barodome, a 3D sensor predicting contact locations and decoupling shear/normal forces. Its performance confirmed the significant impact of shear forces, with observed drops (0.5 mm) closely matching theoretical predictions (0.33 mm). This theory provides valuable guidance for future tactile sensor design and advanced robotic touch systems.