fig5
Figure 5. Miniature capacitive tactile sensors for catheters. (A) A MEMS capacitive pressure sensor (left part) and the kink test shows that the assembly could pass 15 and 12.5 mm radii but failed at a 7.5 mm radius (right plot)[15]. (B) A capacitive sensor array on catheter sidewall (left part) and fitting curve of the sensing data (right plot)[62]. MEMS: Microelectromechanical systems.
