A capacitive tactile force sensor with mutual fringe effect and parallel plate design for robot assisted surgery

This paper presents a unique design of a single-axis tactile force sensor by a mutual parallel plate and fringing effect of an electric field that is generated between stationary patterned electrodes in the sensor. The proposed sensor can measure the normal and shear forces with high sensitivity and linear response. The capacitive tactile sensor is fabricated by low-cost rapid prototyping techniques using conductive ink for electrode printing that is printed on a polyethylene terephthalate sheet by an inkjet printer. Ecoflex 00-30 and silicone rubber RTV-528 are used as the dielectric medium and dome for force application. A finite element method analysis is performed for deciding the dimensions of the sensor's stationary electrodes. The force measurement ranges of the sensor for the normal and shear axis are 4 N and 2 N, respectively. The proposed tactile sensor shows a highly linear response, which makes it a suitable match for force feedback in robotic surgery.