1. An illustration of the experimental setup to be used to characterize the sensor output of thevertical P(VDF-TrFE) fiber array for tactile sensing

2. Left: The voltage output from the vertical fiber array in response to a sinusoidal force with 1Hz frequency. Right: Hair-inspired piezoelectric sensor with coaxial electrodes produced by soft lithography techniques for shear force measurement

3. Fiber PullingTouchingIndenting Pushing/BreakingCuttingLithography Left: Different operations possible with the AFM tip as an end effector in the nano world Right: Teleoperated 3-D Force Measurement Setup