Tactile sensor

A tactile sensor comprising:

• a first substrate including a plurality of first electrodes;
• a second substrate including a plurality of second electrodes corresponding to the plurality of first electrodes;
• and
• a dielectric substance disposed between the first substrate and the second substrate,
• wherein the first electrodes and the second electrodes are alternately arranged to partially overlap each other, and
• wherein a capacitance between at least some of the first electrodes and second electrodes corresponding to the at least some of the first electrodes changes when a shearing force is applied to the first substrate in a first direction, and
• wherein the capacitance between the at least some of the first electrodes and the second electrodes corresponding to the at least some of the first electrodes is changed in a manner opposite to when the shearing force is applied to the first substrate in the first direction, when a shearing force is applied to the first substrate in a direction opposite to the first direction.

A tactile sensor comprising:

• an upper substrate comprising a plurality of first electrodes;
• a lower substrate comprising a plurality of second electrodes,
• wherein the first electrodes and the second electrodes comprise:
• a first group comprising first electrodes and corresponding second electrodes wherein each first electrode of the first group is disposed to be shifted in a first direction with respect to each of the corresponding second electrodes while still partially overlapping each of the corresponding second electrodes of the first group by a first predetermined amount;
• and
• a second group comprising first electrodes and corresponding second electrodes wherein each first electrode of the second group is disposed to be shifted in a second direction with respect to each of the corresponding second electrodes while still partially overlapping each of the corresponding second electrodes of the second group by a second predetermined amount;
• and
• a dielectric disposed between the upper substrate and the lower substrate.

A tactile sensor comprising:

• an upper substrate comprising a plurality of first electrodes;
• a lower substrate comprising a plurality of second electrodes, wherein the first electrodes and the second electrodes comprise:
• a first group comprising first electrodes and corresponding second electrodes each disposed to overlap each other by a first predetermined amount;
• and
• a second group comprising first electrodes and corresponding second electrodes each disposed to overlap each other by a second predetermined amount;
• and
• a dielectric disposed between the upper substrate and the lower substrate.

A tactile sensor comprising:

• an upper substrate comprising a plurality of first electrodes;
• a lower substrate comprising a plurality of second electrodes, wherein the first electrodes and the second electrodes comprise:
• a first group comprising first electrodes and corresponding second electrodes wherein each first electrode of the first group is disposed to overlap each corresponding second electrode of the first group by a first predetermined amount;
• and
• a second group comprising first electrodes and corresponding second electrodes wherein each first electrode of the second group is disposed to overlap each corresponding second electrode of the second group by a first predetermined amount;
• and
• a dielectric disposed between the upper substrate and the lower substrate.