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Tactile Sensor

Human-like sensing in robotics begins with touch.

Understanding pressure, force, vibration, and temperature — just like human skin.

Tactile Sensor

Human-like sensing in robotics begins

with touch. Understanding pressure,

force, vibration, and temperature —

just like human skin.

● OVERVIEW

What is Tactile Sensing?

Human skin detects pressure, vibration, temperature, texture, and power changes.

A tactile sensor transforms these stimuli from physical to electric signals and enables a robot/electric system to interpret the surface/contact status. This technology is to feel like a human hand, which is the core technology of precision operation, HMI, and humanoid.

Receptor
Category
ReceptorName
Detection sense
Main
Location
Tactile (static)
Merkel cells
(SA I)
Consistent recognition
 of 
pressure, shape,
 and texture
Epidermis-
dermis border
Tactile (static)
Ruffini corpuscle
(SA II)
Detection of
skin stretch 
and shearing force
Deep dermal
layer
Tactile
(dynamic)
Meissner
corpuscle
(FA I)
Light contact, low
vibration 
(50Hz)
Derma
papillary
layer
Tactile
(dynamic)
Pacinian
corpuscle
(FA II)
Strong vibration
(200Hz)
Deep
hypodermic 
layer
Temperature

(cold sensation)
Cold receptors
(Aδ textile)
Cold stimulus
(10~35°C)
Epidermis~
dermis
Temperature
(warm sensation)
Warm receptors
(C textile)
Warm stimulus
(30~45°C)
Epidermis~
dermis
Ache
Nociceptors
(Aδ, C textile)
Extreme temperature,
pressure, pain
Full body


Tactile sensor by measuring technology

Resistive

Strengths

Low cost / simple structure 
/ high flexibility / quick response


Limitations

Low resolution / normal sensitivity 
/ low environmental sensitivity

Capacitive

Strengths

High sensitivity & resolution / good durability


Limitations

Middle~high cost / middle structure 
& complexity / low~normal flexibility

Camera-

based

Strengths

Very high sensitivity & resolution / high durability


Limitations

High cost / complex structure / slow response 
/ very high environmental sensitivity

Technologies possessed regarding 2D matrix array sensing

Zero-Potential Technology
▪ Miniaturization and integration available
▪ Appropriate as a portable/wearing device due to minimization of power
▪ Maintains crosstalk-free even in high-density (multi-channel)
200 x 230 mm
Zero-Potential ASIC Technology
▪ Realizes the Zero-Potential operation structure in ASIC
▪ Clarifies blocks (e.g., Row Driver / PGA / ADC / VREF / POR) in images
▪ An image of the actually-produced ASIC board included
MCU-based Measurement Technology
▪ Measurement circuit diagram connecting MCU and sensor arrays
▪ Expression of the structure that measures multi-channel input through ADC
▪ Sensor, measurement circuit, and evaluation image are presented as a single set
Related Patents: Drive device and method for matrix
alignment-type piezoresistive sensor measurement
(No. 10-2610847, Physionics)
• Sensor manufacture
technology
• Tactile sensor
characteristic evaluation
(metal tip precision
balance evaluation)

● Tactile Sensor Outline

Hybrid Tactile Sensor

Concept

A robot end effector performs biomimetics on sensibility of human skin and sensitively detects [1] 2D pressure distribution (64ch), [2] 3-axis power, and [3] temperature with high precision.

Sensor Type

3 types of sensor at a fingertip (distribution, 3-axis, temperature) Designs and produces ROIC to minimize the distribution sensor There is normal pressure sensing of various channels on each joint and palm

ClassificationSensorNo. of ChannelMeas. Range
FingertipPressure
Distribution		64 (8x8)· 1 kΩ ~ 1 MΩ
3-axial force1 (Fx, Fy, Fz)· Fz(Perpendicular)
< 10N
· Fx, Fy(Horizontal)
< 5N
Temperature1· 14 °F ~ 167 °F
· -10 °C ~ 75 °C
JointPressure
Distribution		12 (3x4)· 4 kΩ ~ 500 kΩ
18 (3x6)· 4 kΩ ~ 500 kΩ
PalmPressure
Distribution		16 (4x4)· 4 kΩ ~ 500 kΩ

Cases of Actual Use, Delivery, and Exhibition

Contractual delivery to Korea Institute for
Robot Industry Advancement
As part of the “AI Learning Data Construction Project”,
delivery of collection devices for artificial intelligence robot
object learning
Contractual delivery to Korea Research
Institute of Standards and Science
Providing remote feedback system
CES 2025
Ubiquitous Robots

● GLOBAL BRAND

Physionics Global Brand

This logo symbolizes a global brand newly launched by Physionics. Having an identity that visually shows technical expertise and directions for brand expansion, it refers to the new attempt of Physionics towards a global market.

● OVERVIEW

What is Tactile Sensing?

Human skin detects pressure, vibration, temperature, texture, and power changes. A tactile sensor transforms these stimuli from physical to electric signals and enables a robot/electric system to interpret the surface/contact status. This technology is to feel like a human hand, which is the core technology of precision operation, HMI, and humanoid.

Receptor
Category
ReceptorName
Detection sense
Main Location
Tactile (static)
Merkel cells (SA I)
Consistent recognition of 
pressure, shape, and texture
Epidermis-dermis border
Tactile (static)
Ruffini corpuscle (SA II)
Detection of skin stretch 
and shearing force
Deep dermal layer
Tactile (dynamic)
Meissner corpuscle (FA I)
Light contact, low vibration 
(50Hz)
Derma papillary layer
Tactile (dynamic)
Pacinian corpuscle (FA II)
Strong vibration (200Hz)
Deep hypodermic layer
Temperature
(cold sensation)
Cold receptors (Aδ textile)
Cold stimulus (10~35°C)
Epidermis~dermis
Temperature
(warm sensation)
Warm receptors (C textile)
Warm stimulus (30~45°C)
Epidermis~dermis
Ache
Nociceptors (Aδ, C textile)
Extreme temperature, pressure, pain
Full body


Tactile sensor by measuring technology

Resistive

Capacitive

Camera-based

Strengths

Low cost / simple structure 


/ high flexibility / quick response


Limitations

Low resolution / normal sensitivity 

/ low environmental sensitivity

Strengths

High sensitivity & resolution / good durability


Limitations

Middle~high cost / middle structure 

& complexity / low~normal flexibility

Strengths

Very high sensitivity & resolution / high durability


Limitations

High cost / complex structure / slow response 

/ very high environmental sensitivity

Technologies possessed regarding 2D matrix array sensing

Zero-Potential Technology
▪ Miniaturization and integration available
▪ Appropriate as a portable/wearing device due to minimization of power
▪ Maintains crosstalk-free even in high-density (multi-channel)
Zero-Potential ASIC Technology
▪ Realizes the Zero-Potential operation structure in ASIC
▪ Clarifies blocks (e.g., Row Driver / PGA / ADC / VREF / POR) in images
▪ An image of the actually-produced ASIC board included
MCU-based Measurement Technology
▪ Measurement circuit diagram connecting MCU and sensor arrays
▪ Expression of the structure that measures multi-channel input through ADC
▪ Sensor, measurement circuit, and evaluation image are presented as a single set
200 x 230 mm

● Hybrid Tactile Sensor

Hybrid Tactile Sensor

Concept

A robot end effector performs biomimetics on sensibility of human skin and sensitively detects [1] 2D pressure distribution (64ch), [2] 3-axis power, and [3] temperature with high precision.

Sensor Type

3 types of sensor at a fingertip (distribution, 3-axis, temperatur

Designs and produces ROIC to minimize the distribution sens

There is normal pressure sensing of various channels on each joint and palm

ClassificationSensorNo. of ChannelMeas. Range
FingertipPressure
Distribution		64 (8x8)· 1 kΩ ~ 1 MΩ
3-axial force1 (Fx, Fy, Fz)· Fz(Perpendicular) < 10N
· Fx, Fy(Horizontal) < 5N
Temperature1· 14 °F ~ 167 °F
· -10 °C ~ 75 °C
JointPressure
Distribution		12 (3x4)· 4 kΩ ~ 500 kΩ
18 (3x6)· 4 kΩ ~ 500 kΩ
PalmPressure
Distribution		16 (4x4)· 4 kΩ ~ 500 kΩ

Cases of Actual Use, Delivery, and Exhibition

Contractual delivery to Korea Institute for Robot Industry Advancement
As part of the “AI Learning Data Construction Project”, delivery of collection
devices for artificial intelligence robot object learning
Contractual delivery to Korea Institute for Robot Industry Advancement
As part of the “AI Learning Data Construction Project”, delivery of collection
devices for artificial intelligence robot object learning
CES 2025
CES 2025
Contractual delivery to Korea Research Institute
of Standards and Science
Providing remote feedback system
Contractual delivery to Korea Research Institute
of Standards and Science
Providing remote feedback system
Ubiquitous Robots
Ubiquitous Robots

● GLOBAL BRAND

Physionics Global Brand

This logo symbolizes a global brand newly launched by Physionics. Having an identity that visually shows technical expertise and directions for brand expansion, it refers to the new attempt of Physionics towards a global market.

HQ    #406, IT Venture Town, 35, Techno 9-ro,

          Yuseong-gu, Daejeon, 34027, Republic of Korea

TEL   +82-42-867-7880

FAX   +82-42-367-0886

COPYRIGHT© 2025 PHYSIONICS CO., LTD. ALL RIGHT RESERVED.

HQ       #406, IT Venture Town, 35, Techno 9-ro, Yuseong-gu, Daejeon, 34027, Republic of Korea

TEL     +82-42-867-7880

FAX     +82-42-367-0886

COPYRIGHT© 2025 PHYSIONICS. ALL RIGHT RESERVED.