{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T23:42:52Z","timestamp":1768002172678,"version":"3.49.0"},"reference-count":35,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2019,3,15]],"date-time":"2019-03-15T00:00:00Z","timestamp":1552608000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT &amp; Future Planning","award":["2012R1A6A1029029"],"award-info":[{"award-number":["2012R1A6A1029029"]}]},{"name":"the Nano Material Technology Development Program  through NRF funded by the Ministry of Education.","award":["2012M3A7B4035198"],"award-info":[{"award-number":["2012M3A7B4035198"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this article, we report on a highly sensitive tactile shear sensor that was able to detect minute levels of shear and surface slip. The sensor consists of a suspended elastomer diaphragm with a top ridge structure, a graphene layer underneath, and a bottom substrate with multiple spatially digitized contact electrodes. When shear is applied to the top ridge structure, it creates torque and deflects the elastomer downwards. Then, the graphene electrode makes contact with the bottom spatially digitized electrodes completing a circuit producing output currents depending on the number of electrodes making contact. The tactile shear sensor was able to detect shear forces as small as 6 \u03bcN, detect shear direction, and also distinguish surface friction and roughness differences of shearing objects. We also succeeded in detecting the contact slip motion of a single thread demonstrating possible applications in future robotic fingers and remote surgical tools.<\/jats:p>","DOI":"10.3390\/s19061300","type":"journal-article","created":{"date-parts":[[2019,3,18]],"date-time":"2019-03-18T04:06:55Z","timestamp":1552882015000},"page":"1300","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Highly Sensitive Tactile Shear Sensor Using Spatially Digitized Contact Electrodes"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2864-4329","authenticated-orcid":false,"given":"Eunsuk","family":"Choi","sequence":"first","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Soonhyung","family":"Hwang","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yousang","family":"Yoon","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hojun","family":"Seo","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jusin","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seongoh","family":"Yeom","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gunwoo","family":"Ryu","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Heewon","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sunjin","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Onejae","family":"Sul","sequence":"additional","affiliation":[{"name":"Institute of Nano Science and Technology, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seung-Beck","family":"Lee","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"},{"name":"Institute of Nano Science and Technology, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,3,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1016\/j.sna.2017.09.035","article-title":"Biomimetic tactile sensors and signal processing with spike trains: A review","volume":"269","author":"Yi","year":"2018","journal-title":"Sens. Actuators A"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1016\/j.mechatronics.2017.11.002","article-title":"Robotic tactile perception of object properties: A review","volume":"48","author":"Luo","year":"2018","journal-title":"Mechatronics"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Dahiya, R.S., and Valle, M. (2013). Robotic Tactile Sensing, Springer.","DOI":"10.1007\/978-94-007-0579-1"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1005","DOI":"10.1016\/j.robot.2006.05.013","article-title":"A sensor for dynamic tactile information with applications in human\u2013robot interaction and object exploration","volume":"54","author":"Schmidt","year":"2006","journal-title":"Robot. Auton. Syst."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"985","DOI":"10.1109\/TRO.2018.2830364","article-title":"Robust tactile descriptors for discriminating objects from textural properties via artificial robotic skin","volume":"34","author":"Kaboli","year":"2018","journal-title":"IEEE Trans. Robot."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"10930","DOI":"10.1038\/s41598-017-11306-w","article-title":"A somatotopic bidirectional hand prosthesis with transcutaneous electrical nerve stimulation based sensory feedback","volume":"7","author":"Petrini","year":"2017","journal-title":"Sci. Rep."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1665","DOI":"10.1109\/TBME.2016.2622361","article-title":"Shape sensing techniques for continuum robots in minimally invasive surgery: A survey","volume":"64","author":"Shi","year":"2017","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"eaat0429","DOI":"10.1126\/scirobotics.aat0429","article-title":"A skin-inspired tactile sensor for smart prosthetics","volume":"3","author":"Wu","year":"2018","journal-title":"Sci. Robot."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"7387","DOI":"10.1039\/C7NR09149D","article-title":"Highly sensitive flexible three-axis tactile sensors based on the interface contact resistance of microstructured graphene","volume":"10","author":"Zhang","year":"2018","journal-title":"Nanoscale"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1700586","DOI":"10.1002\/aelm.201700586","article-title":"A highly sensitive flexible capacitive tactile sensor with sparse and high-aspect-ratio microstructures","volume":"4","author":"Wan","year":"2018","journal-title":"Adv. Electron. Mater."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1707503","DOI":"10.1002\/adfm.201707503","article-title":"Flexible normal-tangential force sensor with opposite resistance responding for highly sensitive artificial skin","volume":"28","author":"Mu","year":"2018","journal-title":"Adv. Funct. Mater."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"795","DOI":"10.1038\/nmat3380","article-title":"A flexible and highly sensitive strain-gauge sensor using reversible interlocking of nanofibres","volume":"11","author":"Pang","year":"2012","journal-title":"Nat. Mater."},{"key":"ref_13","first-page":"1800284","article-title":"A highly sensitive tactile sensor using a pyramid-plug structure for detecting pressure, shear force, and torsion","volume":"2018","author":"Choi","year":"2018","journal-title":"Adv. Mater. Technol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"12020","DOI":"10.1021\/nn505953t","article-title":"Tactile-direction-sensitive and stretchable electronic skins based on human-skin-inspired interlocked microstructures","volume":"8","author":"Park","year":"2014","journal-title":"Acs Nano"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"10211","DOI":"10.3390\/s101110211","article-title":"A polymer-based capacitive sensing array for normal and shear force measurement","volume":"10","author":"Cheng","year":"2010","journal-title":"Sensors"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"eaau6914","DOI":"10.1126\/scirobotics.aau6914","article-title":"A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics","volume":"3","author":"Boutry","year":"2018","journal-title":"Sci. Robot."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Asano, S., Muroyama, M., Nakayama, T., Hata, Y., Nonomura, Y., and Tanaka, S. (2017). 3-axis fully-integrated capacitive tactile sensor with flip-bonded CMOS on LTCC interposer. Sensors, 17.","DOI":"10.3390\/s17112451"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"115012","DOI":"10.1088\/0960-1317\/21\/11\/115012","article-title":"Development of patterned carbon nanotubes on a 3D polymer substrate for the flexible tactile sensor application","volume":"21","author":"Hu","year":"2011","journal-title":"J. Micromech. Microeng."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"19830","DOI":"10.1007\/s10854-018-0111-0","article-title":"A flexible three-dimensional force sensor based on PI piezoresistive film","volume":"29","author":"Zhu","year":"2018","journal-title":"J. Mater. Sci. Mater. Electron."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"075006","DOI":"10.1088\/0960-1317\/25\/7\/075006","article-title":"Dynamic performance analysis of a micro cantilever embedded in elastomer","volume":"25","author":"Hosono","year":"2015","journal-title":"J. Micromech. Microeng."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"4198","DOI":"10.1109\/JSEN.2016.2538642","article-title":"Design and characterization of a novel T-shaped multi-axis piezoresistive force\/moment sensor","volume":"16","author":"Zhang","year":"2016","journal-title":"IEEE Sens. J."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"e09148","DOI":"10.7554\/eLife.09148","article-title":"Intraneural stimulation elicits discrimination of textural features by artificial fingertip in intact and amputee humans","volume":"5","author":"Oddo","year":"2016","journal-title":"eLife"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"095006","DOI":"10.1088\/1361-6439\/aa7ec2","article-title":"Stylus type MEMS texture sensor covered with corrugated diaphragm","volume":"27","author":"Tsukamoto","year":"2017","journal-title":"J. Micromech. Microeng."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Pottie, G.J., and Kaiser, W.K. (2005). Principles of Embedded Networked System Design, Cambridge University Press.","DOI":"10.1017\/CBO9780511541049"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Baglio, S., Castorina, S., and Savalli, N. (2008). Scaling Issues and Design of MEMS, John Wiley & Sons Ltd.","DOI":"10.1002\/9780470034071"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Choi, E., Sul, O., Kim, J., Kim, K., Kim, J.-S., Kwon, D.-Y., Choi, B.-D., and Lee, S.-B. (2016). Contact pressure level indication using stepped output tactile sensors. Sensors, 16.","DOI":"10.3390\/s16040511"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"385","DOI":"10.1126\/science.1157996","article-title":"Measurement of the elastic properties and intrinsic strength of monolayer graphene","volume":"321","author":"Lee","year":"2008","journal-title":"Science"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"2520","DOI":"10.1038\/ncomms3520","article-title":"Tensile testing of ultran-thin films on water surface","volume":"4","author":"Kim","year":"2013","journal-title":"Nat. Commun."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1408","DOI":"10.1016\/j.actamat.2011.11.015","article-title":"The role of specimen thickness in the fracture toughness and fatigue crack growth resistance of nanocrystalline platinum films","volume":"60","author":"Meirom","year":"2012","journal-title":"Acta Mater."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"1609","DOI":"10.1016\/j.mee.2006.01.142","article-title":"High resolution 100 kV electron beam lithography in SU-8","volume":"83","author":"Bilenberg","year":"2006","journal-title":"Microelectron. Eng."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"234","DOI":"10.1016\/j.jcis.2011.01.082","article-title":"Superhydrophilic and superhydrophobic nanostructured surfaces via plasma treatment","volume":"357","author":"Fell","year":"2011","journal-title":"J. Colloid Interface Sci."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"3977","DOI":"10.1088\/0957-4484\/17\/15\/062","article-title":"Nanotexturing of poly(dimethylsiloxane) in plasmas for creating robust super-hydrophobic surfaces","volume":"17","author":"Tserepi","year":"2006","journal-title":"Nanotechnology"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"1424","DOI":"10.1016\/j.wear.2005.01.033","article-title":"The effect of contact area on nano\/micro-scale friction","volume":"259","author":"Yoon","year":"2005","journal-title":"Wear"},{"key":"ref_34","unstructured":"Giovanni, M.D. (1982). Flat and Corrugated Diaphragm Design Handbook, Marcel Dekker."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"425504","DOI":"10.1088\/0957-4484\/25\/42\/425504","article-title":"Spatially digitized tactile pressure sensors with tunable sensitivity and sensing range","volume":"25","author":"Choi","year":"2014","journal-title":"Nanotechnology"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/6\/1300\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:39:00Z","timestamp":1760186340000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/6\/1300"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,3,15]]},"references-count":35,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2019,3]]}},"alternative-id":["s19061300"],"URL":"https:\/\/doi.org\/10.3390\/s19061300","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,3,15]]}}}