| Abstract: | Various technologies described herein pertain to a tactile sensor that
senses normal load and/or shear load. The tactile sensor includes a first
layer and an optically transparent layer bonded together. At least a
portion of the first layer is made of optically reflective material. The
optically transparent layer is made of resilient material (e.g., clear
silicone rubber). The tactile sensor includes light emitter/light
detector pair(s), which respectively detect either normal load or shear
load. Light emitter(s) emit light that traverses through the optically
transparent layer and reflects off optically reflective material of the
first layer, and light detector(s) detect and measure intensity of
reflected light. When a normal load is applied, the optically transparent
layer compresses, causing a change in reflected light intensity. When
shear load is applied, a boundary between optically reflective material
and optically absorptive material is laterally displaced, causing a
change in reflected light intensity. |