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However, designing a reliable triaxial tactile sensor to decouple the normal and tangential forces is still a challenge for current research. Herein, a capacitive triaxial force sensor based on a microcone dielectric layer together with the force decoupling method is proposed. The lateral and vertical displacement of the top electrode relative to the bottom electrodes under the action of external forces can be perfectly detected according to the capacitance variations. The microcone\u2010structured sensor combined with the new decoupling method leads to a high sensitivity of 3.5\u2009kPa<jats:sup>\u22121<\/jats:sup> for normal force in a low\u2010pressure range of 0\u2013\u201350\u2009Pa and 0.134\u2009N<jats:sup>\u22121<\/jats:sup> for tangential force in 0\u20130.5\u2009N, and a fast response time of 26\u2009ms. The sensors mounted on the fingers of a robotic arm can provide effective tactile information during the grasping task. Finally, a conceptual 3\u2009\u00d7\u20093 tactile sensor array is fabricated and verified for spatial pressure mapping. This work provides new insight into piezocapacitive tactile sensor design and shows its great potential in robotic applications.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200321","type":"journal-article","created":{"date-parts":[[2023,1,18]],"date-time":"2023-01-18T22:31:48Z","timestamp":1674081108000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["A New Force\u2010Decoupling Triaxial Tactile Sensor Based on Elastic Microcones for Accurately Grasping Feedback"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8971-6854","authenticated-orcid":false,"given":"Yiding","family":"Gu","sequence":"first","affiliation":[{"name":"School of Optoelectronic Science and Engineering University of Electronic Science and Technology of China  Chengdu 611731 P. R. 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