Tactile sensor equipped with multiple light sources and a photo detector, sensing device and robot having the same

A tactile sensor comprising:

• a sensing unit, an elastomer support housing and a base;
• the sensing unit being disposed in an inner cavity enclosed by the elastomer support housing and the base;
• and
• the sensing unit comprises at least eight light sources, a photo detector and a reflector, the photo detector being disposed on the base, the at least eight light sources being evenly disposed around an octagon-shaped periphery of the photo detector on the base with the photo detector as a center of symmetry, and the reflector being disposed at a top of the inner cavity of the elastomer support housing,
• wherein the photo detector is configured to measure a change in light intensity of light from each of the light sources reflected by the reflector separately by turning on/off the light source when a force is applied to the elastomer support housing and the changes in the light intensity of the reflected light of the at least eight light sources are then configured for determining magnitude and direction of the force in six degrees of freedom.