Distribution type tactile sensor

A distribution type tactile sensor comprising:

• a plurality of electrodes provided in pairs at respective pressure sensing points on a pressure sensitive conductive rubber sheet capable of changing the electrical resistance responsive to compressive forces;
• and
• rectifier means provided to respective electrodes for rectifying the current flowing across each pair of electrodes through the rubber sheet, the electrodes being divided into groups each comprising electrodes arranged in a line corresponding to respective polarities of the electrodes, wherein electrodes in respective electrode groups are parallel connected to one another through electrode leads, and directions of a division of electrode groups divided into respective polarities are crossed with one another at respective pressure sensing points;
• wherein belts of the pressure sensitive conductive rubber sheet are disposed in a mutually parallel and spaced arrangement on pairs of electrodes provided on a sensor board in a chessboard arrangement, a cover having a relatively low friction resistance and comprising a flexible material is applied to the surfaces of the belts of the rubber sheet, and a flexible surface-forming member is further applied on the cover thereby providing a laminate structure;
• and wherein the peripheral edge of the laminate structure is fixed and electrodes having respective polarities are divided into respective groups in a mutually perpendicular arrangement.