The mainstream of current research work in array tactile sensors concentrates on using a soft compliant membrane as a means of transmitting the effect of variable external stimuli to the discrete sensing elements. The soft compliant devices are usually made of a thin flexible substrate such as pressure sensitive pads, conductive materials, conductive coatings, piezoelectric polymers or elastomers. A large number of tactile sensor designs using these types of materials have been investigated by researchers. These include the use of anisotropically conductive silicone rubber (ACS), sponges containing carbon particles or felted carbon fibres, piezoelectric polymers such as polyvinylidene fluoride (PVF2) and conductive elastomers such as Dynacom materials consisting of silicone rubber mixed with metallic compounds.
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