A Survey of Tactile-Sensing Systems and Their Applications in Biomedical Engineering

Figure 3

Schematic illustration of TESM. (a) Structure of a 16 × 16 TESM. (b) Schematic of the pressure mapping process. (c) Demonstration of the mapping output voltage of the sensor matrix under the pressure. (d) The output voltage increases with increasing contact area at a pressure of ≈200 kPa. (e) The output voltage simulated using the finite element method with different contact areas. (f) Photograph of a fabricated 16 × 16 TESM with good flexibility (reprinted from Ref. [72], copyright (2016), with permission from WILEY-VCH publishing group).

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