A fingertip force tactile sensor based on polyvinylidene fluoride（ PVDF） piezoelectric thin film is designed

to obtain the three-dimensional information of fingertip force in the control process of intelligent manipulator. The principles of piezoelectric thin film and sensor probe are described by mathematical models

and the corresponding conditioning circuit is designed. The fingertip force in different angles to the contact surface is taken as the test object. The test results show that the designed fingertip force sensor can accurately detect the three-dimensional information of fingertip force

and it can be applied to the actual fingertip force detection.