A tactile sensor comprises a sensing bladder in pneumatic communication with a first diaphragm side of a pneumatic diaphragm via a first fluid; the pneumatic diaphragm being actuatable by a displacement of the first fluid within the sensing bladder; the pneumatic diaphragm further comprising a second...http://www.google.fr/patents/US7004039?utm_source=gb-gplus-shareBrevet US7004039 - Ambient pressure compensated tactile sensor
