Soft Shear Force Resistive Sensor Embedded in Artificial Skin

A sensor device comprising:

• a substrate including a contact portion, a first tab extending from the contact portion, a second tab extending from the contact portion in a direction substantially parallel to and opposite from the first tab, a third tab extending from the contact portion in a direction substantially perpendicular to the first and second tabs, and a fourth tab extending from the contact portion in a direction substantially parallel to and opposite from the third tab;
• a first strain gauge sensor positioned at the first tab;
• a second strain gauge sensor positioned at the second tab;
• a third strain gauge sensor positioned at the third tab;
• a fourth strain gauge sensor positioned at the fourth tab;
• and
• a first normal force sensor positioned on the contact surface, wherein a distal end of each of the first tab, the second tab, the third tab, and the fourth tab are configured to be coupled to a rigid curved surface such that the substrate is configured to conform to the rigid curved surface, and wherein the sensor device is configured such that a force applied to the contact portion of the substrate will be sensed by each of the first strain gauge sensor, the second strain gauge sensor, the third strain gauge sensor, the fourth strain gauge sensor, and the first normal sensor due to a movement of the substrate with respect to the rigid curved surface.

A sensor system comprising:

• a sensor device including:
• a substrate having a first end and a second end, wherein the substrate includes a contact portion, a first sensor portion positioned between the first end of the substrate and the contact portion, and a second sensor portion positioned between the second end of the substrate and the contact portion, wherein the first and second sensor portions are spaced apart and separated by the contact portion;
• a first strain gauge sensor positioned at the first sensor portion;
• and
• a second strain gauge sensor positioned at the second sensor portion;
• and
• a rigid curved surface coupled to the substrate such that the first sensor portion and the second sensor portion are non-coplanar with the contact portion, wherein the first end of the substrate and the second end of the substrate are coupled to the rigid curved surface, and wherein the sensor system is configured such that a force applied to the contact portion of the substrate will be sensed by each of the first strain gauge sensor and the second strain gauge sensor due to a movement of the substrate with respect to the rigid curved surface.