It expounds the principle and the structure of the three-axis tactile sensing head based on PVDF film along with the formula to calculate the three-axis force.

• 阐述了基于PVDF膜三向力触觉传感头的设计思想、基本结构和计算空间三向力的公式,经过实验获得一系列数据,拟合出回归曲线,验证了该方案的可行性。