Using Flexible Shear Stress Sensors for Robotic Manipulation Improvement

Mimicking the human ability to dexterously manipulate objects requires sensor arrays to measure the normal and shear force distributions and orientations. This chapter discusses the use of flexible shear stress sensors in medical robotics to improve manipulation. Shear force sensors are critical for enhancing robotic manipulation because they provide tactile perception, which is essential for robots to interact with their environment and handle objects with precision (Jiang et al., 2024). These sensors enable robots to detect and measure the lateral forces applied to their grippers or end effectors, which is crucial for tasks that require delicate handling or fine motor skills. The ability to perceive shear forces allows robots to adjust their grip strength and manipulate objects without slipping or causing damage, thereby improving the dexterity and versatility of robotic systems (Howe, 1993). Therefore, shear force sensors have potential applications in medical-assisting devices, minimally invasive surgeries, and other areas of medical robotics. The use of non-invasive diagnostic and intervention techniques is increasing in modern medicine, and future electronic skins aim to improve the sensitivity, dynamic range, response time, relaxation time, and detection limit (Dahiya, 2019; Navaraj et al., 2019; Soni & Dahiya, 2020; Yeo et al., 2016). This chapter presents the gap between the human sense of touch and the tactile sensors reported in the literature.