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. 2019 Jun 11;19(11):2641. doi: 10.3390/s19112641

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© 2019 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Sensor characterizations. (a) Calibration results of the developed force sensor for the normal (left) and shear direction (right). (b) Hysteresis of the developed force sensor with the load cell for the normal (left) and shear direction (right). (c) Response of the developed force sensor with a repeated load for the normal (left) and shear directions (right). (d) Response of the developed force sensor for the normal direction when the shear force is loaded (left) and for the shear direction when the normal force is loaded (right).