This paper describes an optical displacement measurement method to develop tactile scnsors based on a suspension-shell mechanism for dextrous fingers. To express position and orientation of the suspcnsion-shell, three parameters of angular displacements and two parameters of linear displacements are introduced. Besides, a method for measuring thcse five parameters using inverse optical projection is proposed. Only the longitudinal force of the springs suspending the shcll coaxially around the rigid finger body is considered. Thus, the dynamic analysis of balance becomes very simple. Algebraic formulations for estimating magnitude, direction and position of the external force are shown. Also, simulations to verify the proposed proccdures are made.

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