Table 1.

Sensitivities of other tactile sensors in the literature.

Tactile Sensor	Dielectric Layer	Pressure Range	Sensitivity
Metzger [34]	Foam	0–0.1 N	2%/N
Shimojo [35]	Pressure conductive rubber	0–100 N	1.5%/N
Cotton [21]	PDMS	0–0.32 N	20%/N
Liang [23]	PDMS	0–0.5 N	67.2%/N
Petropoulos [3]	Air	0–0.6 N	57.4%/N
Lee [22]	Air	0–40 mN	3%/mN
Our work	PDMS	0–1 N	35.9%/N