Flexible sensors have gained popularity in recent years. This study proposes a novel structure of a resistive four-channel tactile sensor capable of distinguishing the magnitude and direction of normal forces acting on its sensing surface. The sensor uses EcoflexTM00-30 as the substrate and EGaIn alloy as the conductive filler, featuring four mutually perpendicular and curved channels to enhance the sensor's dynamic responsiveness. Experiments and simulations show that the sensor has a large dynamic range (31.25-100 mΩ), high precision (deviation of repeated pressing below 0.1%), linearity (R2 above 0.97), fast response/recovery time (0.2 s/0.15 s), and robust stability (with fluctuations below 0.9%). This work uses an underactuated robotic hand equipped with a four-channel tactile sensor to grasp various objects. The sensor data collected effectively predicts the shapes of the objects grasped. Furthermore, the four-channel tactile sensor proposed in this work may be employed in smart wearables, medical diagnostics, and other industries.
Keywords: flexible sensor; linear response; multi-channel mechanism; tactile sensor; under-actuated robotic hand.