Figure 1From: Feasibility of novel four degrees of freedom capacitive force sensor for skin interface force Force and torque components of six DOF on the skin surface. In the XY plane as the skin surface, the force component of the vertical axis is normal force F Z and the force components of horizontal axes are shear forces F X and F Y. The torque components around the axes are roll, pitch and yaw (T X, T Y and T Z).Back to article page