Fluidic tactile sensor

A fluidic tactile sensor comprising:

• a core comprising an outer surface and a plurality of channels formed within the core, the plurality of channels having openings at a first surface portion of the outer surface, wherein the core is nonplanar;
• an elastic skin disposed over the first surface portion and coupled to the core;
• a plurality of cells formed between the first surface portion and the elastic skin, each of the plurality of cells fluidly connected to a respective one of the plurality of channels through the opening of the channel at the first surface portion;
• and
• a plurality of compressible fluid volumes extending between the elastic skin and the core, each of the plurality of compressible fluid volumes including a first fluid volume formed inside a respective one of the plurality of cells and containing a first portion of a continuous compressible fluid medium and a second fluid volume formed inside the channel fluidly connected to the respective one of the plurality of cells and containing a second portion of the continuous compressible fluid medium;
• wherein a contact force applied to the elastic skin at a first location corresponding to a first cell of the plurality of cells produces a measurable change in a fluid pressure of the continuous compressible fluid medium associated with the first cell.