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

Figure 4

Schematic illustration showing the structure of the hemispheric tactile sensor: (a) the structure of a heterocore fiber optic sensor and (b) the structure of a hemispheric of a hemispheric heterocore fiber optic tactile sensor (adapted from Ref. [78] Copyright (2018), with permission).

(a)

(b)