[1 ] Van Anh Ho,Dao D V,Sugiyama S,et al. Design of a small-scale tactile sensor with three sensing points for using in robotic fingertips[ G ]//2010 IEEE International Conference on Robotics and Automation, 2010,Anchorage, Alaska, 4855 -4860.

[2] Tanaka M,Iijim T,Tanakashi Y, et al. Development of a 3D tactile sensor [ J ]. Journal of Materials Processing Technology,200Ί, 181 (1 - 3) ：286 - 290.

[3 ] Noda K, Hoshino K, Matsumoto Κ, et al. A shear stress sensor for tactile sensing with the piezoresistive cantilever standing in elastic material [ J ]. Sensors and Actuators A :physical, 2006,127(2) ： 295 -301.

[4] Hu Y, Katragadda R B, Tu H,ei a/. Bioinspirer 3-D tactil sensor for minimally invasive surgery [ J ]. Journal of microelectro-mechanical systems, 2010, 19 (6) ： 1400 -1407.

[5] Chen T Y,Wang Y G,Lo G Y, et al. A novel integrated transparent flexible tactile sensor [ G ]//Transducers 2011 16th International, Beijing, China, 2011, 1052 -1055.

[6] Huang Y M, Tsai N G, Lai J Y. Development of tactile sensors for simultaneous, detection of normal and shear stresses [ J ]. Sensors and Actuators A ： Physical, 2010, 159(2) :189 -195.

[7] Su W S, Hu G F, Lin G M, ei al. Development of a 3d distributed carbon nanotubes on flexible polymer for normal and shear forces measurement [ G ]//Micro Electro Mechanical Systems, 2010 IEEE 23 rd International Conference on, Hong Kong, China, 2010, 615-618.

[8] 黄英，陆伟，赵小文，等.基于碳纤维复合材料的柔性 复合式触觉传感器[J].计量学报，2012,33 (3): 221 -226.

[9] 王富耻，张朝辉.ANSYS10.0有限元分析理论与应用 [M].北京：电子工业出版社，2006: 1 -4.

[10] 张振秀，聂军，沈梅，等.ANSYS中超弹性模型及其在 橡胶工程中的应用[J].橡塑技术与装备，2005,31 (9):1-4.

[11] 黄英，张玉刚，仇怀利，等.柔性触觉传感器用导电橡 胶的纳米&02改性技术[J].仪器仪表学报，2009, 30(5) ：949 -953.

[12] 曹广辉，黄英，张武，等.三维柔性触觉传感器模型仿 真及试验研究[J].电子测量与仪器学报，2011,25 (2):129 -134.

[13] Papakostas T V, Lima J, Lowe M. A large area force sensor for smart skin applications [ J ]. Sensors, Proceedings of IEEE, 2002, 2： 1620-1624.

[14] 黄英，陆伟，赵小文，等.用于机器人皮肤的柔性多功 能触觉传感器设计与实验[J ].机器人，2011，33 (3): 347 -353.

[15] Huang Y, Ming X Η, Xiang Β, et al. Two Types of Flexible Tactile Sensor Arrays of Robot for Three-dimension Force Based on Piezoresistive Effects [G]// ROBIO 2008 IEEE International Conference on, Bangkok,Thailand,2009:1032 - 1037.