Tactile sensing system

A tactile sensing system, comprising:

• a pair of tactile sensors respectively provided at mutually facing surfaces of a pair of grasping portions provided at a robot, the pair of tactile sensors configured to contact a workpiece grasped by the pair of grasping portions;
• and
• an output section electrically connected to the pair of tactile sensors,
• wherein:
• each tactile sensor has an electrostatic capacitance-type sensor portion having a contact surface configured to contact the workpiece, and having a layered structure in which an elastic layer, and a first electrode layer and a second electrode layer positioned at respective sides of the elastic layer with the elastic layer sandwiched therebetween, are layered in a normal direction of the contact surface,
• the first electrode layer has a plurality of first electrodes,
• the second electrode layer has one or a plurality of second electrodes,
• two or more of the plurality of first electrodes are partially-overlapping electrodes that partially overlap with the second electrode as viewed in the normal direction,
• the sensor portion outputs a plurality of signals that respectively correspond to the plurality of first electrodes, and
• based on all or some of the plurality of signals, the output section calculates respective pressure values of a plurality of pressure detection positions within the contact surface, and, based on all or some of a plurality of partially-overlapping electrode signals, which respectively correspond to the plurality of partially-overlapping electrodes, among the plurality of signals, the output section calculates one aggregate shearing force value for the entire contact surface, and the output section outputs data for the aggregate shearing force value and data for a pressure distribution expressing the respective pressure values of the plurality of pressure detection positions.