SHEET-LIKE TACTILE SENSOR SYSTEM

摘要

Provided are multiple normal stress detection sensor units 300 capable of detecting a normal stress, and a sheet layer portion 200. The sheet layer portion 200 includes an exterior sheet layer portion 210, a force detection sheet layer portion 230 incorporating normal stress detection units 300, and an intermediary layer 220 sandwiched between the exterior sheet layer portion 210 and the force detection sheet layer portion 230. The exterior sheet layer portion 210 and the force detection sheet layer portion 230 include multiple protrusions 212 and 232 protruding in directions opposed to each other, and are disposed such that the protrusions 212 and 232 engage each other with the intermediary layer 220 interposed therebetween. Each normal stress detection sensor unit 300 includes a central portion detection sensor device 310 disposed immediately below a central portion of the protrusions 232 provided on the force detection sheet portion 230, and at least two edge detection sensor devices 321 to 324 disposed immediately below edge portions of the protrusion 232 provided on the force detection sheet portion 230.