Quartz-crystal tuning-fork tactile sensor

Sensing behavior of a quartz-crystal tuning-fork tactile sensor was tested using several types of materials (metals and slide glass) and several sheet s of sandpaper of different roughnesses fixed on copper or aluminum plates with acrylic resin paste. Sensing mechanisms on the longitudinal plane wave transmission model are discussed. For materials with roughnesses in the ra nge of sandpaper roughnesses, this sensor functions as a simple roughnesses sensor in a stationary state.