给出了一种能敏感三向力、并能得到受力位置的光波导触觉传感器之工作原理和基本结构。这种传感器由光波导、橡胶垫、PSD、CCD 及信号处理电路组成, 通过图像处理可获得三向力, 采集PSD 的输出电流可得到受力位置。关键词　光波导　触觉传感器　PSDAbstract　The imp lementat ion of a th ree2axis tact ile senso r is p resented. The senso r is comp rised of an op t ical waveguide, a rubber sheet, a PSD p late and a CCD camera. The th ree dimensional fo rce can be obtained th rough digital image p rocessing, and the cont ract po sit ion is calculated from the output current of PSD.Key words　Op t icalWaveguide　Tact ile senso r　PSD (Po sit ion Sensit ive Device)