FIGURE 2.
Self-made tactile sensors: (A) casting mold for the pressure sensor (before casting); (B) casted pressure sensor and “bone” (fingertip structure) with holes for simple sensors such as pressure sensors, IMU, or VL6180X; (C) casting mold and resulting silicone pad for the magnetic four-axis sensor; and (D) fingertip structure with four integrated MLX90393 sensor chips and silicone pad ready for assembly.