An illustration of the experimental setup to be used to characterize the sensor output of thevertical P(VDF-TrFE) fiber array for tactile sensing

Left: The voltage output from the vertical fiber array in response to a sinusoidal force with 1Hz frequency.Right: Hair-inspired piezoelectric sensor with coaxial electrodes produced by soft lithography techniques for shear force measurement

Fiber PullingTouchingIndenting

Pushing/Breaking Cutting

Lithography

Left: Different operations possible with the AFM tip as an end effector in the nano worldRight: Teleoperated 3-D Force Measurement Setup