Shear sensing lets grippers detect extrinsic contact through held tools
_krishna_murthy · x · 2026-10-22
The OpenTac team explains why shear force sensing matters: when a gripper holds a tool, shear measurements enable estimating extrinsic contact — indirect forces from the tool interacting with the environment.
They also detail automated sensor design: drop a DXF/STL into their CAD tool and it designs the skin for any 2D/3D shape. The sensor stacks a 3D-printed TPU base plate, a flex PCB (orderable from JLCPCB/PCBWay), and a piezoresistive layer, with a printed TPU case ensuring alignment during assembly.
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