Flexible tactile sensors should have the same function as the skin

which can detect magnitude and direction of the applied force. The improved piezoresistive tactile sensor is made up of a central core and four side walls

and sensing elements for normal force and shear force are different. The tactile sensor is embedded in a polydimethylsiloxane（ PDMS） elastomer

to realize flexible detection. Through simulation analysis

detection range of normal force of tactile sensor is 600 Pa

65 k Pa

and the minimum shear force is 900 Pa. By further analysis

resistance change curve of normal force sensing element when the normal force and shear force are applied on the sensor is obtained. The tactile sensor can effecti

vely reduce the interference between the normal force sensing element and shear force sensing element. The developed tactile sensor can flexibly detect the applied normal force and shear force

it can be used in robot arm and prosthesis.