Fig. 7
From: Polymer-based flexible and multi-directional tactile sensor with multiple NiCr piezoresistors
Changes in resistance of the piezoresistors against applied a normal and b shear forces. The resistance of E3 decreases as the applied normal force increases, with a slope of − 4.9 and − 3.6 Ω mN‒1 for force ranges of 0‒300 and 300‒500 mN, respectively. When a shear force in the x-direction is applied, the resistance of E1 increases with a slope of 1.2 Ω mN‒1, while that of E3 decreases with a slope of − 1.2 Ω mN‒1