Patent ID: 8613231

Claim:
A sheet-like tactile sensor system that detects a normal stress and a shearing force when the sheet-like tactile sensor system contacts an object, the sheet-like tactile sensor system comprising: a plurality of normal stress detection sensor units capable of detecting a normal stress; a sheet layer portion formed of three sheet layers laminated, the sheet layer portion being configured to be deformed by a contact with the object and to transmit the contact force to the normal stress detection unit, wherein the sheet layer portion includes: an exterior sheet layer portion forming an outer surface; a force detection sheet layer portion incorporating the normal stress detection unit or being disposed immediately above the normal stress detection unit; and an intermediary layer sandwiched between the exterior sheet layer portion and the force detection sheet layer portion and transmitting an acting force from the exterior sheet layer portion to the force detection sheet layer portion, wherein the exterior sheet layer portion and the force detection sheet layer portion have a plurality of protrusions protruding in directions opposed to each other, and are disposed such that the protrusions of the exterior sheet layer portion and the protrusions of the force detection sheet layer portion engage each other with the intermediary layer interposed therebetween, and wherein each of the normal stress detection sensor units includes: a central portion detection sensor element disposed immediately below a central portion of each of the protrusions provided on the force detection sheet portion; and at least two edge detection sensor elements disposed immediately below edge portions of each of the protrusions provided on the force detection sheet portion so as to sandwich the central portion detection sensor element.