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This paper introduces a high sensitivity multi-axis capacitive tactile force sensor designed for robotic-assisted surgery, utilizing the fringe effect of electric fields between patterned electrodes. The sensor can accurately measure normal, shear, and angular forces, demonstrating linear response, repeatability, and robustness against environmental interferences. Fabricated using low-cost materials and rapid prototyping techniques, it is suitable for providing force feedback in minimally invasive surgical

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khen77212

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EN