SOURCE-LINKED INTELLIGENCE
Layered e-skin for Shear Sensing
This paper presents a stacked two-layer force-sensing resistor (FSR) array designed for robotic fingertips that combines high-resolution pressure mapping with shear-force estimation. A compliant lattice elastomer spacer converts shear loading into a measurable inter-layer displacement, producing relative center-of-pressure (CoP) shifts between layers. A physics-based moment balance links inter-layer CoP displacement to shear force, while an end-to-end CNN--GRU model captures nonlinear effects from load-dependent compression and contact redistribution. This model, with both layers as input, ach
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-18T18:59:35.000Z
First collected: 2026-09-23T12:01:45.602Z. This is not the publication date.