Paper Survey Advisor ： Prof C-H Chuang Advisee ： Jian-Liang Mu （穆建良） Institute of Mechanical-Engineering-Department Date ： A Polymer-Based Flexible Tactile Sensor for Both Normal and Shear Load Detections and Its Application for Robotics JOURNAL OF MICROELECTROMECHANICAL SYSTEMS, VOL. 16, NO. 3, JUNE 2007 IEEE 1

Outline Sensing principle and sensor structure Fabrication steps Application to a humanoid robot as a ground reaction force (grf) sensor Conclusion Future work 2

Schematic view of the proposed tactile sensor 3

Normal and shear load sensing principles 4

Fabrication steps for the realization of the proposed device 5

Optical photographs of the fabricated flexible tactile sensor 6

output voltages versus normal loads and shear loads 7

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Performance test of the GRF sensor 9

Sensor module 10

GRF sensor test 11

Measurement of the GRF with the GRF sensor module. 12

Future Work Paper Survey 13

Thanks for your attention 14