Tunable Normal and Shear Force Discrimination by a Plant-Inspired Tactile Sensor for Soft Robotics

  • Afroditi Astreinidi BlandinEmail author
  • Massimo Totaro
  • Irene Bernardeschi
  • Lucia BeccaiEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10384)


In plants, particular biomechanical protruding structures, tactile bleps, are thought to be specialized tactile sensory organs and sensitive to shear force. In this work, we present a 2D finite element analysis of a simplified plant-inspired capacitive tactile sensor. These preliminary results show that the variation of geometrical and material parameters permits to tune the sensitivity to normal and shear force and, with particular configurations, to discriminate between the two forces with a simple electrical layout and no signal processing.


Bio-inspired tactile sensor Tactile blep Shear force discrimination Soft robotics 


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Center for Micro-BioRoboticsIstituto Italiano di TecnologiaPontederaItaly
  2. 2.The BioRobotics InstituteScuola Superiore Sant’AnnaPontederaItaly

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