The invention relates to a tactile sensor in which a fiber (1) is linked with an instrument transformer (4) which is configured as a capacitor in such a manner that if the free end of the fiber is touched by an object, the touch is converted to electric signals. The force acting between the object and...http://www.google.fr/patents/US6593756?utm_source=gb-gplus-shareBrevet US6593756 - Tactile sensor
