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Authors have proposed a method for detecting a friction coefficient between a planar object and an elastic finger-shaped sensor by only pressing the sensor against the object in our previous study. In the present study, an elastic finger-shaped sensor made of silicone rubber is designed and produced. First, geometry of the finger-shaped sensor is designed using finite element analysis (FEA). Results of FEA revealed that strain detected using strain gage incorporated near the edge of the contactdoi:10.1109/robot.2003.1241809 dblp:conf/icra/MaenoK03 fatcat:toqdcxwbgba5pff5hfdy43aixi