{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T20:13:38Z","timestamp":1774383218112,"version":"3.50.1"},"reference-count":19,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2021,3,9]],"date-time":"2021-03-09T00:00:00Z","timestamp":1615248000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100010662","name":"H2020 Excellent Science","doi-asserted-by":"publisher","award":["870133"],"award-info":[{"award-number":["870133"]}],"id":[{"id":"10.13039\/100010662","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100010662","name":"H2020 Excellent Science","doi-asserted-by":"publisher","award":["731590"],"award-info":[{"award-number":["731590"]}],"id":[{"id":"10.13039\/100010662","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Tactile data perception is of paramount importance in today\u2019s robotics applications. This paper describes the latest design of the tactile sensor developed in our laboratory. Both the hardware and firmware concepts are reported in detail in order to allow the research community the sensor reproduction, also according to their needs. The sensor is based on optoelectronic technology and the pad shape can be adapted to various robotics applications. A flat surface, as the one proposed in this paper, can be well exploited if the object sizes are smaller than the pad and\/or the shape recognition is needed, while a domed pad can be used to manipulate bigger objects. Compared to the previous version, the novel tactile sensor has a larger sensing area and a more robust electronic, mechanical and software design that yields less noise and higher flexibility. The proposed design exploits standard PCB manufacturing processes and advanced but now commercial 3D printing processes for the realization of all components. A GitHub repository has been prepared with all files needed to allow the reproduction of the sensor for the interested reader. The whole sensor has been tested with a maximum load equal to 15N, by showing a sensitivity equal to 0.018V\/N. Moreover, a complete and detailed characterization for the single taxel and the whole pad is reported to show the potentialities of the sensor also in terms of response time, repeatability, hysteresis and signal to noise ratio.<\/jats:p>","DOI":"10.3390\/s21051915","type":"journal-article","created":{"date-parts":[[2021,3,9]],"date-time":"2021-03-09T21:36:21Z","timestamp":1615325781000},"page":"1915","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":25,"title":["Tactile Sensors for Parallel Grippers: Design and Characterization"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0475-8364","authenticated-orcid":false,"given":"Andrea","family":"Cirillo","sequence":"first","affiliation":[{"name":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania \u201cLuigi Vanvitelli\u201d, Via Roma 29, 81031 Aversa, CE, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8364-6728","authenticated-orcid":false,"given":"Marco","family":"Costanzo","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania \u201cLuigi Vanvitelli\u201d, Via Roma 29, 81031 Aversa, CE, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4009-8287","authenticated-orcid":false,"given":"Gianluca","family":"Laudante","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania \u201cLuigi Vanvitelli\u201d, Via Roma 29, 81031 Aversa, CE, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1237-0389","authenticated-orcid":false,"given":"Salvatore","family":"Pirozzi","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria, Universit\u00e0 degli Studi della Campania \u201cLuigi Vanvitelli\u201d, Via Roma 29, 81031 Aversa, CE, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2021,3,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Wang, Y., Chen, J., and Mei, D. (2019). Flexible Tactile Sensor Array for Slippage and Grooved Surface Recognition in Sliding Movement. Micromachines, 10.","DOI":"10.3390\/mi10090579"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Klimaszewski, J., Janczak, D., and Piorun, P. (2019). Tactile Robotic Skin with Pressure Direction Detection. Sensors, 19.","DOI":"10.3390\/s19214697"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Liu, C., Zhuang, C., Nasrollahi, A., Lu, L., Haider, M.F., and Chang, F. (2020). Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach. Sensors, 20.","DOI":"10.3390\/s20102830"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Suen, M., and Chen, R. (2018). Capacitive Tactile Sensor with Concentric-Shape Electrodes for Three-Axial Force Measurement. 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