Flexible Tactile Sensor Research Articles

Sensitive, Robust, Wide-Range, and High-Consistency Capacitive Tactile Sensors with Ordered Porous Dielectric Microstructures.

Flexible capacitive tactile sensors show great promise in personalized healthcare monitoring and human-machine interfaces, but their practical application is normally hindered because they rarely possess the required comprehensive performance, that is, high pressure sensitivity and fast response within a broad pressure range, high structure robustness, performance consistency, etc. This paper aims to engineer flexible capacitive pressure sensors with highly ordered porous dielectric microstructures and a 3D-printing-based fully solution-processable fabrication process. The proposed dielectric layer with uniformly distributed interior microporous can not only increase its compressibility and dynamic response within an extended pressure range but also enlarge its contact area with electrodes, contributing to a simultaneous improvement in the sensitivity, response speed, detection range, and structure robustness. Meanwhile, owing to its superior abilities in complex structure manufacturing and dimension controlling, the proposed 3D-printing-based fabrication process enables the consistent fabrication of the porous microstructure and thus guarantees device consistency. As a result, the prepared pressure sensors exhibit a high sensitivity of 0.21 kPa-1, fast response and relaxation times of 112 and 152 ms, an interface bonding strength of more than 455.2 kPa, and excellent performance consistency (≤5.47% deviation among different batches of sensors) and tunability. Encouraged by this, the pressure sensor is further integrated with a wireless readout circuit and realizes wireless wearable monitoring of various biosignals (pulse waves and heart rate) and body movements (from slight finger touch to large knee bending). Finally, the influence law of the feature parameters of the porous microstructure on device performance is established by the finite element method, paving the way for sensor optimization. This study motivates the development of flexible capacitive pressure sensors toward practical application.

Design and Fabrication of Flexible Composite Tactile Sensors for Robotic Soft Grippers

Design and Fabrication of Flexible Composite Tactile Sensors for Robotic Soft Grippers

A Dual-Mode Pressure and Temperature Sensor.

The emerging field of flexible tactile sensing systems, equipped with multi-physical tactile sensing capabilities, holds vast potential across diverse domains such as medical monitoring, robotics, and human-computer interaction. In response to the prevailing challenges associated with the limited integration and sensitivity of flexible tactile sensors, this paper introduces a versatile tactile sensing system capable of concurrently monitoring temperature and pressure. The temperature sensor employs carbon nanotube/graphene conductive paste as its sensitive material, while the pressure sensor integrates an ionic gel containing boron nitride as its sensitive layer. Through the application of cost-effective screen printing technology, we have successfully manufactured a flexible dual-mode sensor with exceptional performance, featuring high sensitivity (804.27 kPa-1), a broad response range (50 kPa), rapid response time (17 ms), and relaxation time (34 ms), alongside exceptional durability over 5000 cycles. Furthermore, the resistance temperature coefficient of the sensor within the temperature range of 12.5 °C to 93.7 °C is -0.17% °C-1. The designed flexible dual-mode tactile sensing system enables the real-time detection of pressure and temperature information, presenting an innovative approach to electronic skin with multi-physical tactile sensing capabilities.

Magnetic Tactile Sensor with Bionic Hair Array for Sliding Sensing and Object Recognition.

Due to the high application value in intelligent robots, tactile sensors with large sensing area and multi-dimensional sensing ability have attracted the attention of researchers in recent years. Inspired by bionics of hairs on human skin, a flexible tactile sensor based on magnetic cilia array is developed, showing extremely high sensitivity and stability. The upper layers of the sensor are multiple magnetic cilia containing magnetic particles, while the lower layer is a serpentine flexible circuit board with a magnetic sensor array. When magnetic cilia are bent under force, the magnetic sensor array can detect changes in the magnetic field, thereby the magnitude and direction of external force can be obtained. The proposed sensor has a resolution of 0.2 mN with a working range of 0-19.5 mN and can distinguish the direction of external force. The large sensing area and short response time make this sensor suitable for sliding tactile detection, and experiments show that the sensor can be also applied in object recognition with a success accuracy of 97%. In addition to the shape of objects, the sensor can identify whether there is magnetism inside objects, making it of significant value in intelligent robots and modern medicine.

Identification of fruit using a flexible tactile sensor array

This article aims to address the issue of low recognition accuracy in existing sorting robots caused by lighting, occlusion, and environmental factors. A fruit recognition method based on a flexible tactile sensor array is described. This method enables the robot to directly perceive the attributes of the objects and identify fruits using a flexible gripper, facilitating intelligent sorting. A novel flexible tactile sensor array is utilized to construct a flexible hand tactile information acquisition platform, which collects tactile time series data for the fruits. Principal component analysis is then employed for dimensionality reduction, followed by the development of an improved particle swarm optimization for the support vector machine model. Through an experimental study, the optimized model is compared with four other models, demonstrating better classification performance. The optimized model achieves an average tactile classification accuracy of up to 98.10% for the five types of fruits. A comparison between the improved optimization algorithm, genetic algorithm, and grid search algorithm reveals the superior optimization performance of the new approach. In the future, this method is expected to be implemented in industrial sorting robots for intelligent sorting on automatic production lines. Furthermore, the algorithm will be further refined to enhance the classification accuracy and efficiency.

Flexible tactile sensors with interlocking serrated structures based on stretchable multiwalled carbon nanotube/silver nanowire/silicone rubber composites.

Flexible tactile sensors have attracted significant interest because of their application scope in the fields of biomedicine, motion detection, and human-computer interaction. However, the development of tactile sensors with high sensitivity and flexibility remains a critical challenge. This study develops a patterned, stretchable, and fully elastomeric multiwalled carbon nanotube (MWCNT)/silver nanowire (Ag NW)/silicone rubber (SR) composite. The addition of Ag NWs to MWCNTs enhances the transmission path of the conductive network, yielding a CNT/Ag NW/SR composite with a sensitivity coefficient of 40. This characteristic renders it suitable for use as a piezoresistive sensing material. The interlocking sawtooth structure can convert the mechanical stimuli of the sensor to the tensile strain of the composite, thereby enhancing its sensitivity and flexibility. Experimental results indicate that the developed tactile sensor exhibited a sensitivity of 2.82 N-1 at 0-0.5 N and 1.51 N-1 at 0.5-2 N. These haptic sensors also demonstrate good dynamic response, repeatability, and long life. Furthermore, experimental results show that these haptic sensors exhibit high reproducibility, fast dynamic response, and good mechanical and electrical stability. Because of these exceptional properties, the as-prepared sensor can be applied in the development of smart robots, prosthetics, and wearable devices.

Flexible resistive tactile pressure sensors

This review covers recent advancements in flexible resistive tactile pressure sensors, including operational principles, performance metrics, material choices, structural design, and applications, as well as future challenges.

Grasping State Analysis of Soft Manipulator Based on Flexible Tactile Sensor and High-Dimensional Fuzzy System

Grasping State Analysis of Soft Manipulator Based on Flexible Tactile Sensor and High-Dimensional Fuzzy System

The role of bio-inspired micro-/nano-structures in flexible tactile sensors

This review focuses on the development of tactile sensors for parameters such as pressure, strain and integration of multiple functions. The application prospect of bionic sensors in e-skin, human–computer interaction, and bionic robots is envisioned.

A selectively bimodal flexible sensor based on IL/SWCNTs/PEDOT:PSS nanocomposites for materials and shape recognition

Inspired by the function of human skin, a flexible tactile sensor was assembled based on the novel IL/SWCNT/PEDOT:PSS nanocomposite, which possesses the multisensory ability to independently identify pressure and temperature with no cross-coupling.

An ultra-soft conductive elastomer for multifunctional tactile sensors with high range and sensitivity.

Flexible tactile sensors have become important as essential tools for facilitating human and object interactions. However, the materials utilized for the electrodes of capacitive tactile sensors often cannot simultaneously exhibit high conductivity, low modulus, and strong adhesiveness. This limitation restricts their application on flexible interfaces and results in device failure due to mechanical mismatch. Herein, we report an ultra-low modulus, highly conductive, and adhesive elastomer and utilize it to fabricate a microstructure-coupled multifunctional flexible tactile sensor. We prepare a supramolecular conductive composite film (SCCF) as the electrode of the tactile sensor using a supramolecular deep eutectic solvent, polyvinyl alcohol (PVA) solution, poly(3,4-ethylenedioxythiophene):poly(styrene sulfonate) (PEDOT:PSS), and MXene suspension. We employ a polyvinylidene fluoride-hexafluoropropylene (PVDF-HFP) film containing 1-ethyl-3-methylimidazolium bis(trifluoromethylsulfonyl)imide (EMIM:TFSI) as the dielectric layer to fabricate capacitive sensors with an electrical double layer structure. Furthermore, we enhance the performance of the device by incorporating coupled pyramid and dome microstructures, which endow the sensor with multi-directional force detection. Our SCCF exhibits extremely high conductivity (reaching 710 S cm-1), ultra-low modulus (0.8 MPa), and excellent interface adhesion strength (>120 J m-2). Additionally, due to the outstanding conductivity and unique structure of the SCCF, it possesses remarkable electromagnetic shielding ability (>50 dB). Moreover, our device demonstrates a high sensitivity of up to 1756 kPa-1 and a wide working range reaching 400 kPa, combining these attributes with the requirements of an ultra-soft human-machine interface to ensure optimal contact between the sensor and interface materials. This innovative and flexible tactile sensor holds great promise and potential for addressing various and complex demands of human-machine interaction.

Terrain Classification based on Spatiotemporal Multi-Head Attention with Flexible Tactile Sensors Array

Terrain Classification based on Spatiotemporal Multi-Head Attention with Flexible Tactile Sensors Array

Braille Tactile-to-Auditory Conversion System Based on Self-Learning Flexible Tactile Sensor Array with Attention-Mechanism Model

Braille Tactile-to-Auditory Conversion System Based on Self-Learning Flexible Tactile Sensor Array with Attention-Mechanism Model

A Multifunctional Flexible Tactile Sensor Based on Resistive Effect for Simultaneous Sensing of Pressure and Temperature.

Flexible tactile sensors with multifunctional sensing functions have attracted much attention due to their wide applications in artificial limbs, intelligent robots, human-machine interfaces, and health monitoring devices. Here, a multifunctional flexible tactile sensor based on resistive effect for simultaneous sensing of pressure and temperature is reported. The sensor features a simple design with patterned metal film on a soft substrate with cavities and protrusions. The decoupling of pressure and temperature sensing is achieved by the reasonable arrangement of metal layers in the patterned metal film. Systematically experimental and numerical studies are carried out to reveal the multifunctional sensing mechanism and show that the proposed sensor exhibits good linearity, fast response, high stability, good mechanical flexibility, and good microfabrication compatibility. Demonstrations of the multifunctional flexible tactile sensor to monitor touch, breathing, pulse and objects grabbing/releasing in various application scenarios involving coupled temperature/pressure stimuli illustrate its excellent capability of measuring pressure and temperature simultaneously. These results offer an effective tool for multifunctional sensing of pressure and temperature and create engineering opportunities for applications of wearable health monitoring and human-machine interfaces.

Crosstalk-Free Position Mapping for One-Step Reconstruction of Surface Topological Information via Eigenfrequency-Registered Wearable Interface.

Exploring flexible tactile sensors capable of recognizing surface information is significant for the development of virtual reality, artificial intelligence, soft robotics, and human-machine interactions (HMI). However, it is still a challenge for current tactile sensors to efficiently recognize the surface pattern information while maintaining the simplicity of the overall system. In this study, cantilever beam-like magnetized micropillars (MMPs) with height gradients are assembled as a position-registered array for rapid recognition of surface pattern information. After crossing the surface location with convex patterns, the deformed MMPs undergo an intrinsic oscillating process to induce damped electrical signals, which can then be converted to a frequency domain for eigenfrequency extraction. Via precisely defining the specific eigenfrequencies of different MMPs, position mapping is realized in crosstalk-free behavior even though all signals are processed by one communication channel and a pair of electrodes. With a customized LabVIEW program, the surface information (e.g., letters, numbers, and Braille) can be accurately reconstructed by the frequency sequence produced in a single scanning procedure. We expect that the proposed interface can be a convenient and powerful platform for intelligent surface information perception and an HMI system in the future.

Oblique Pyramid Microstructure-Patterned Flexible Sensors for Pressure and Visual Temperature Sensing.

Flexible tactile sensors have garnered considerable attention in diverse fields. Among them, the sensors integrated with multifunctional tactile sensing features can simultaneously detect various stimuli, such as pressure and temperature, and are thus suitable for practical applications. However, integrating multiple sensor modalities within a solitary pixel invariably encounters various limitations encompassing interplay among disparate sensors, intricate structural design demands, and the complexities and high costs associated with fabrication. Herein, we harness a visual sensing mechanism to synergize with electric sensors, thereby realizing a tactile sensor reliant on thermochromic microstructures for simultaneous pressure and temperature sensing. The thermal distribution could be easily displayed by the color change of the sensor, avoiding inference between the sensing units, which is beneficial for low-cost mass fabrication. A capacitor sensor with dual-scale oblique pyramid microstructures in its dielectric layer is used for the pressure sensing function, resulting in improved sensitivity and an extended measurement range. This innovative tactile sensor design offers insights into tactile sensing mechanisms, paving the way for cost-effective, high-performance, and multimodal sensor fabrication.

Recent developments in stretchable and flexible tactile sensors towards piezoresistive systems: A review

AbstractStretchable and flexible piezoresistive sensors (SFPSs) can detect mechanical stimuli in terms of electrical response and provide adaptability to use with complex surfaces, whether stationary or moving. Its stretchable and flexible nature makes it ideal for detecting large strains, localized pressure, bending, and twisting. SFPSs can detect pressure and strain in a broad range. SFPSs have ease of manufacturing, high sensitivity, better durability, easy processing, and economic development. These qualities of SFPSs can open a wide range of application possibilities, such as healthcare, human motion detection, a safe environment to interact with robots, automation, and soft robotics. The discussion in this article starts from the sensing mechanism, design development over the years, a variety of materials used for substrates and to provide conductivity to the sensors, fabrication processes explored and developed, enhancement in the performance characteristics, to have future directions. Over the last decades, exponential development has occurred in SFPSs systems based on design mechanisms, materials used, and fabrication techniques, even though several technological and design challenges remain undetermined and bear decisive interdisciplinary intervention to address them.

Skin‐Inspired Capacitive Flexible Tactile Sensor with an Asymmetric Structure for Detecting Directional Shear Forces

AbstractFlexible pressure sensors based on micro‐/nanostructures can be integrated into robots to achieve sensitive tactile perception. However, conventional symmetric structures, such as pyramids or hemispheres, can sense only the magnitude of a force and not its direction. In this study, a capacitive flexible tactile sensor inspired by skin structures and based on an asymmetric microhair structure array to perceive directional shear force is designed. Asymmetric microhair structures are obtained by two‐photon polymerization (TPP) and replication. Owing to the features of asymmetric microhair structures, different shear force directions result in different deformations. The designed device can determine the directions of both static and dynamic shear forces. Additionally, it exhibits large response scales ranging from 30 Pa to 300 kPa and maintains high stability even after 5000 cycles; the final relative capacitive change (ΔC/C0) is <2.5%. This flexible tactile sensor has the potential to improve the perception and manipulation ability of dexterous hands and enhance the intelligence of robots.

Waterproof and Flexible Aquatic Tactile Sensor with Interlocked Ripple Structures for Broad Range Force Sensing

AbstractUnderwater perception of a broad range of force holds great importance in aquatic explorative activities, while flexible tactile sensors face technical challenges to realize. This paper presents a novel flexible aquatic tactile sensor based on waterproof graphene (GR)/carbon nanotube (CNT)/Polydimethylsiloxane (PDMS) composites. The prepared GR/CNT/PDMS composites possess excellent hydrophobic and electromechanical properties with a water contact angle over 134° and an ultrahigh gauge factor of 2296, making them an ideal piezoresistive sensing material for underwater broad‐range force sensing. The proposed tactile sensor has 3 × 3 sensing units and uses dual interlocked water‐ripple structures to improve its sensitivity and force detection range. The fabricated tactile sensor is characterized by two distinct sensitivities: a high sensitivity of 0.0338 kPa−1 at 0.062–150 kPa and a low sensitivity of 0.00357 kPa−1 at 150–450 kPa. Further, the sensor exhibited excellent resistance response, fast dynamic recovery, and both mechanical and electrical stability in aquatic environments. Then, the aquatic tactile sensor is worn on the palm of the human hand to detect the distribution and variation of contact forces when grasping objects with different shapes and hardness, demonstrating the potential underwater applications of the developed aquatic tactile sensor for broad‐range force sensing.

Electrospun Cellulose Nanocrystals Reinforced Flexible Sensing Paper for Triboelectric Energy Harvesting and Dynamic Self-Powered Tactile Perception.

The technical synergy between flexible sensing paper and triboelectric nanogenerator (TENG) in the next stage of artificial intelligence Internet of Things engineering makes the development of intelligent sensing paper with triboelectric function very attractive. Therefore, it is extremely urgent to explore functional papers that are more suitable for triboelectric sensing. Here, a cellulose nanocrystals (CNCs) reinforced PVDF hybrid paper (CPHP) is developed by electrospinning technology. Benefitting from the unique effects of CNCs, CPHP forms a solid cross-linked network among fibers and obtains a high-strength (25MPa) paper-like state and high surface roughness. Meanwhile, CNCs also improve the triboelectrification effect of CPHP by assisting the PVDF matrix to form more electroactive phases (96% share) and a higher relative permittivity (17.9). The CPHP-based TENG with single electrode configuration demonstrates good output performance (open-circuit voltage of 116V, short-circuit current of 2.2µA and power density of 91mWm-2) and ultrahigh pressure-sensitivity response (3.95mVPa-1), which endows CPHP with reliable power supply and sensing capability. More importantly, the CPHP-based flexible self-powered tactile sensor with TENG array exhibits multifunctional applications in imitation Morse code compilation, tactile track recognition, and game character control, showing great prospects in the intelligent inductive device and human-machine interaction.