1. Paper Survey Advisor ： Prof C-H Chuang Advisee ： Jian-Liang Mu （穆建良） Institute of Mechanical-Engineering-Department Date ： 2012-07-27 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

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

3. Schematic view of the proposed tactile sensor 3

4. Normal and shear load sensing principles 4

5. Fabrication steps for the realization of the proposed device 5

6. Optical photographs of the fabricated flexible tactile sensor 6

7. output voltages versus normal loads and shear loads 7

8. 8

9. Performance test of the GRF sensor 9

10. Sensor module 10

11. GRF sensor test 11

12. Measurement of the GRF with the GRF sensor module. 12

13. Future Work Paper Survey 13

14. Thanks for your attention 14