Qian, YanjunKwon, Hyock Ju2018-11-092018-11-09May-18978-1-77355-023-7http://hdl.handle.net/10315/35391http://dx.doi.org/10.25071/10315/35391An ultrasonic tactile sensor that can measure the stiffness of the tissue was developed. By combining analytical and numerical approaches, efficient design methodology was presented. The electrical and mechanical performance of developed sensor was experimentally validated.enThe copyright for the paper content remains with the author.Tactile sensingEquivalent circuitEngineering Analysis & DesignTactile sensingEquivalent circuitArticle