Tactile Sensor Research Articles

A compressible high-sensitivity flexible sensor array for real-time motion artifact detection in magnetic resonance imaging

Magnetic Resonance Imaging (MRI) serves as a critical tool in modern medical diagnosis, and its accuracy is directly linked to patient treatment and recovery. However, unintentional patient movement during MRI scans often results in motion artifacts on the images, significantly compromising the precision of diagnosis. Traditional solutions typically involve identifying and addressing these issues after the scanning sequence is completed, leading to significant resource waste and delays in patient treatment. Here, we propose a flexible tactile sensor array system based on triboelectric nanogenerators (TENGs) for real-time monitoring of head motion artifacts in MRI. The unique design of the tactile sensor structure, operating in a dual-electrode mode, maintains high sensitivity and a wide response range, even with a minimal surface area. The advantage of TENG is the wide range of material choices, ensuring that a proper selection will not interfere with MRI during application. By integrating TENG sensor technology and control program systems, this solution provides a novel approach for monitoring head motion artifacts in MRI. On the basis of ensuring patient comfort, it has saved the time and money costs of monitoring, improved the efficiency of detection, and demonstrated significant potential in the field of medical imaging.

An Examination of Ultrasound Mid-air Haptics for Enhanced Material and Temperature Perception in Virtual Environments

Rendering realistic tactile sensations of virtual objects remains a challenge in VR. While haptic interfaces have advanced, particularly with phased arrays, their ability to create realistic object properties like state and temperature remains unclear. This study investigates the potential of Ultrasound Mid-air Haptics (UMH) for enhancing the perceived congruency of virtual objects. In a user study with 30 participants, we assessed how UMH impacts the perceived material state and temperature of virtual objects. We also analyzed EEG data to understand how participants integrate UMH information physiologically. Our results reveal that UMH significantly enhances the perceived congruency of virtual objects, particularly for solid objects, reducing the feeling of mismatch between visual and tactile feedback. Additionally, UMH consistently increases the perceived temperature of virtual objects. These findings offer valuable insights for haptic designers, demonstrating UMH's potential for creating more immersive tactile experiences in VR by addressing key limitations in current haptic technologies.

Investigation on voltage response and application of flexible tactile sensors based on multiple cooperative structures

Recently, flexible tactile sensors (FTSs) have gained great attention for their application prospects in human–machine interfaces and robots. However, there is a lack of effective and practical approaches to study the response and guide the design of FTSs. Establishing a valid analytical model and revealing the effect mechanism remain challengeable at present. Herein, an analytical model of an FTS based on multiple cooperative structures (FTS-MCS) is developed. The model is validated with numerical and experimental results. The relative error between the analytical and experimental results for the compression and recovery are 9.3% and 3.8%, respectively. The effect of structure parameters, including helix coil and permanent magnet, is investigated based on the analytical model. The results show that the voltage of FTS-MCS can be improved by tuning the turn, diameter, and shape of coils and the remanent flux density and dimensions of the permanent magnet. The maximum voltage is improved by 49.8% as the turn of coils grows four. The effect of the load conditions of the compression deformation and compression speed is also revealed. Then, a sensitivity analysis is performed to quantitatively analyze the effect of different parameters. Results show the diameter of coils and the compression deformation have the greatest effect on the voltage of FTS-MCS. Due to the flexibility, adaptability, and tactility, such FTS-MCS are mounted on a double-fingered claw to endow the claw with self-perception capacity. Consequently, our study gives a comprehensive understanding of such FTS-MCS and is conducive to promoting the application of FTS-MCS.

Soft Micropneumatic Touchpad

Soft tactile sensors outputting fluidic signals have many potential applications in soft microfluidic devices and soft robots. However, existing systems have been limited to a single or a few sensors in parallel, so they are not comparable to the state‐of‐the‐art electrical resistive and capacitive touchpads, which can detect rich tactile information, including touch location, pressure, area, and even multiple touches simultaneously. This work reports a soft micropneumatic touchpad. The touchpad consists of 32 pneumatic channels inside soft elastomer, with 16 channels aligned row‐wise and 16 column‐wise. The flow resistance of each channel is measured using a pressure divider. When the pad is touched, the cross‐sectional area of the channels close to the contact location deforms, which changes the flow resistance of those channels. With 32 sensing channels, the location, depth, area of the contact, and even two simultaneous touches can be detected. Letters hand‐written on the touchpad can be reconstructed from the measured data. With the assumption of sparsity, a tactile pressure map, with a value at each 16 × 16 grid point, can also be reconstructed. This work opens a path to replace electronic tactile sensors in soft devices with all‐fluidic alternatives.

Force Measurement Technology of Vision‐Based Tactile Sensor

Marker‐type vision‐based tactile sensors (VTS) realize force sensing by calibrating marker vector information. The tactile visualization can provide high‐precision and multimodal force information to promote robotic dexterous manipulation development. Considering VTS's contribution to force measurement, this article reviews the advanced force measurement technologies of VTSs. First, the working principle of marker‐type VTSs is introduced, including single‐layer markers, double‐layer markers, color coding, and optical flow. Then, the relationship between the marker type and the category of force measurement is discussed in detail. On this basis, the process of marker feature extraction is summarized, including image processing and marker‐matching technologies. According to the learning approach, force measurement methods are classified into physical and deep learning models. Further, branches of each method are analyzed in terms of input types. Combined with measuring range and precision, the correlation of sensor design, materials, and recognition methods to force measurement performance is further discussed. Finally, the difficulties and challenges are analyzed, and future developments are proposed. This review aims to deepen understanding of the research progress and applications and provide a reference for the research community to promote technology generations in related fields.

Hierarchical Porous Biowaste‐Based Dual Humidity/Pressure Sensor for Robotic Tactile Sensing, Sustainable Health, and Environmental Monitoring

A crucial tradeoff between material efficacy and environmental impact is often encountered in the development of high‐performance sensors. The use of rare‐earth elements or intricate fabrication techniques is sometimes needed for conventional sensing materials, posing concerns regarding sustainability. Exploring the potential of tomato peel (TP) as a dual‐purpose sensing dielectric layer for pressure and humidity monitoring is a paradigm shift, capitalizing on its porous structure and hygroscopic nature. TP‐based humidity sensor (TP‐HS) exhibits impressive results, with a wide humidity sensing range (5%–95%), fast response/recovery time (6.5/9 s), a high sensitivity (12 500 pF %RH−1), and a high stability (30 days). Additionally, TP‐based pressure sensor (TP‐PS) also shows excellent performance in accurately sensing pressure changes in a wide range (0–196 kPa). TP‐HS can easily distinguish between breathing rates (normal, fast, and slow) and moisture content present in different moisturizers (aloe vera and sanitizer) along with its successful use for proximity sensing. Alternatively, TP‐PS demonstrates weight measurement (490 and 980 N), grip recognition (measuring the pressure exerted by each finger), and gesture detection (by monitoring multiple bending angles 0°, 30°, 50°, and 80°). A wearable, biocompatible dual sensor based on a promising sustainable material for environmental, robotic, and health monitoring applications is successfully demonstrated.

Evaluation of Haptic Textures for Tangible Interfaces for the Tactile Internet

Every texture in the real world provides us with the essential information to identify the physical characteristics of real objects. In addition to sight, humans use the sense of touch to explore their environment. Through haptic interaction we obtain unique and distinct information about the texture and the shape of objects. In this paper, we enhance X3D 3D graphics files with haptic features to create 3D objects with haptic feedback. We propose haptic attributes such as static and dynamic friction, stiffness, and maximum altitude that provide the optimal user experience in a virtual haptic environment. After numerous optimization attempts on the haptic textures, we propose various haptic geometrical textures for creating a virtual 3D haptic environment for the tactile Internet. These tangible geometrical textures can be attached to any geometric shape, enhancing the haptic sense. We conducted a study of user interaction with a virtual environment consisting of 3D objects enhanced with haptic textures to evaluate performance and user experience. The goal is to evaluate the realism and recognition accuracy of each generated texture. The findings of the study aid visually impaired individuals to better understand their physical environment, using haptic devices in conjunction with the enhanced haptic textures.

Sensibility in the world of science and gendered society: the ethics and aesthetics of skin in The Skin I Live In

ABSTRACT This paper focuses on the aesthetical and ethical representations of skin in Pedro Almodóvar’s The Skin I Live In (2011). By emphasising the interconnectedness of the skin as an expressive interface mediating between the inner self and the material world, this paper examines how the image of skin extends beyond the visual aesthetics to engage viewers in a haptic sense. I argue that the haptic experience, when actively engaged, can transcend bodily suffering from unjust treatment, charging moving images with ethical consideration and envisioning alternative human bonds in a posthuman condition. By engaging with phenomenological concepts of flesh, intersubjectivity, and interobjectivity, this paper criticises the mistreatment of beings in the scientific field and the objectification of human bodies to sustain a gendered and patriarchal structure. Instead of solely attributing abusive and controlling masculinity and the oppression of women to the patriarchy, it is essential to go beyond traditional categories of male/female and masculinity/femininity and examine the modern systems that excessively alienate human beings. The paper proposes that an individual’s existence precedes social and political identification and advocates for a dynamic way to recognise and describe the process of becoming-body as it continuously undergoes qualitative changes through lived experiences.

Tactile Sensing and Rendering Patch with Dynamic and Static Sensing and Haptic Feedback for Immersive Communication.

Wearable human-machine interface (HMI) with bidirectional and multimodal tactile information exchange is of paramount importance in teleoperation by providing more intuitive data interpretation and delivery of tactilely related signals. However, the current sensing and feedback devices still lack enough integration and modalities. Here, we present a Tactile Sensing and Rendering Patch (TSRP) that is made of a customized expandable array which consists of a piezoelectric sensing and feedback unit fused with an elastomeric triboelectric multidimensional sensor and its inner pneumatic feedback structure. The primary functional unit of TSRP is mainly featured with a soft silicone substrate with compact multilayer structure integrating static and dynamic multidimensional tactile sensing capabilities, which synergistically leverage both triboelectric and piezoelectric effects. Additionally, based on the air chamber created by the triboelectric sensor and the converse piezoelectric effect, it provides pneumatic and vibrational haptic feedback simultaneously for both static and dynamic perception regeneration. With the aid of the other variants of this unit, the array shaped TSRP is capable of simulating different terrains, geometries, sliding, collisions, and other critical interactive events during teleoperation via skin perception. Moreover, immediate manipulation can be done on TSRP through the tactile sensors. The preliminary demonstration of TSRP interface with a completed control module in robotic teleoperation is provided, which shows the feasibility of assisting certain tasks in a complex environment by direct tactile communication. The proposed device offers a potential method of enabling bidirectional tactile communication with enriched key information for improving interaction efficiency in the fields of robot teleoperation and training.

Modulating the doping level of conductive polymers for all polymer-based triboelectric self-powered sensors

Triboelectric self-powered sensors, utilizing flexible conductive polymers in place of traditional metal electrodes, provide improved flexibility and reduced weight, making them highly promising for next-generation Internet of Things sensing applications. Here we demonstrate that ionic liquid (IL) additives notably enhance the mechanical and electrical properties of conductive polymer (PEDOT:PSS) films, optimizing their triboelectric performance. Results show that IL as molecular dopant induces structural change in PEDOT, thereby enhancing charge delocalization and doping levels. These IL-doped PEDOT:PSS films achieved high conductivity, significantly elevated surface potential, and a fourfold increase in output triboelectric voltage compared to the neat film. Additionally, flexible all-polymer tactile sensors with high sensitivity (3.6 V/kPa) were fabricated, demonstrating potential for diverse applications such as activity signal detection and human–machine interfaces.

Flexible Organic Molecular Single Crystal-Based Triboelectric Device as a Self-Powered Tactile Sensor.

Triboelectric nanogenerators (TENGs) have proven to be effective at converting mechanical energy into electrical power, making them a viable technology for operating self-powered electronic devices used in medical diagnostics and environmental monitoring. In the present study, we demonstrate the utility of the flexible single crystals of an organic compound for the fabrication of a TENG as a self-powered tactile sensor. Triboelectrification was attained in single crystals as a result of surface functionalization with positively and negatively charged moieties, viz. Zn2+ and F-, respectively, which resulted in a variable surface potential and reversible adhesion through electrostatic interaction and induction phenomena. TENG incorporating the single crystals showed an output voltage of 2.4 V, a current density of ∼2.2 μA/m2, and a power density of ∼850 mW/m2 and was capable of charging commercial capacitors thereby ensuring its ability to be used as a self-powered touch sensor. Capitalizing on these features, a self-powered tactile sensor was fabricated to demonstrate limb movements. The excellent mechano-electric sensitivity (∼102 mV/kPa until 6 kPa range) and response time (∼38 ms) establish the viability of flexible organic single crystals for mechanical energy harvesting and biosensing applications that could pave the way for their utilization as biomedical wearable devices.

Electrical Impedance Tomography-Based Electronic Skin for Multi-Touch Tactile Sensing Using Hydrogel Material and FISTA Algorithm.

Flexible electronic skin (e-skin) can enable robots to have sensory forms similar to human skin, enhancing their ability to obtain more information from touch. The non-invasive nature of electrical impedance tomography (EIT) technology allows electrodes to be arranged only at the edges of the skin, ensuring the stretchability and elasticity of the skin's interior. However, the image quality reconstructed by EIT technology has deteriorated in multi-touch identification, where it is challenging to clearly reflect the number of touchpoints and accurately size the touch areas. This paper proposed an EIT-based flexible tactile sensor that employs self-made hydrogel material as the primary sensing medium. The sensor's structure, fabrication process, and tactile imaging principle were elaborated. To improve the quality of image reconstruction, the fast iterative shrinkage-thresholding algorithm (FISTA) was embedded into the EIDORS toolkit. The performances of the e-skin in aspects of assessing the touching area, quantitative force sensing and multi-touch identification were examined. Results showed that the mean intersection over union (MIoU) of the reconstructed images was improved up to 0.84, and the tactile position can be accurately imaged in the case of the number of the touchpoints up to seven (larger than two to four touchpoints in existing studies), proving that the combination of the proposed sensor and imaging algorithm has high sensitivity and accuracy in multi-touch tactile sensing. The presented e-skin shows potential promise for the application in complex human-robot interaction (HRI) environments, such as prosthetics and wearable devices.

String‐Like Self‐Capacitance‐Based Proximity and Tactile Sensor that Can be Wrapped Around Robotic Arms

AbstractCooperative robots that perform safety functions as part of cooperative work with humans have been recently drawing attention. Proximity and tactile sensors that can be retrofitted to a robot's surface are important safety measures for existing robots that are not manufactured as cooperative robots to be used as cooperative robots. In this paper, a string‐like self‐capacitance‐based proximity and tactile sensor that can be easily wrapped around various types of existing robots is proposed. The novel and useful point in this paper is that it can be easily mounted on various robots by a flexible string‐like proximity and tactile sensor. The sensor module can be adjusted to the required length by connecting different numbers of modules depending on the mounting surface. As a demonstration, six prototype sensor modules were connected by each connector and wrapped around a robotic arm. The sensor modules on the robot's surface could detect an object within its proximity range and detect the rough pressure after contact. In addition, the robotic arm with the sensor modules could be controlled in real time using the data obtained from the sensor that are object detection data at proximity range. These results confirm that the proposed sensor module can be used in the proximity and tactile sensors of existing robots. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

Development of microsurgical forceps equipped with haptic technology for in situ differentiation of brain tumors during microsurgery

The stiffness of human cancers may be correlated with their pathology, and can be used as a biomarker for diagnosis, malignancy prediction, molecular expression, and postoperative complications. Neurosurgeons perform tumor resection based on tactile sensations. However, it takes years of surgical experience to appropriately distinguish brain tumors from surrounding parenchymal tissue. Haptics is a technology related to the touch sensation. Haptic technology can amplify, transmit, record, and reproduce real sensations, and the physical properties (e.g., stiffness) of an object can be quantified. In the present study, glioblastoma (SF126-firefly luciferase-mCherry [FmC], U87-FmC, U251-FmC) and malignant meningioma (IOMM-Lee-FmC, HKBMM-FmC) cell lines were transplanted into nude mice, and the stiffness of tumors and normal brain tissues were measured using our newly developed surgical forceps equipped with haptic technology. We found that all five brain tumor tissues were stiffer than normal brain tissue (p < 0.001), and that brain tumor pathology (three types of glioblastomas, two types of malignant meningioma) was significantly stiffer than normal brain tissue (p < 0.001 for all). Our findings suggest that tissue stiffness may be a useful marker to distinguish brain tumors from surrounding parenchymal tissue during microsurgery, and that haptic forceps may help neurosurgeons to sense minute changes in tissue stiffness.

Development of fully soft composite tactile sensors using conductive fabric and polydimethylsiloxane

This study presents composite resistive soft tactile sensors combining conductive fabric and polydimethylsiloxane. The sensors utilize the changes in resistance of the conductive fabric when stretched to sense the pressure, while reducing the volatility of resistance of the conductive fabric by embedding the fabric within the elastomer matrix. The sensors have a compact design, a simple fabrication process using cost-effective materials, and a compliant structure. The performance evaluation of 12 samples was conducted to assess their linearity, sensitivity, time responses, and reliability. A particular sample was chosen for its universal applicability, characterized by a rise time of ∼ 0.38 s, a decay time of ∼ 2.71 s, a settling time of ∼ 851.8 s, hysteresis of 21.04 %, and a sensitivity of 0.0362 %/kPa. Finally, potential applications were proposed using the selected sensor, showcasing its capability to support closed-loop systems in the fields of soft robotics and wearable technology.

Behavioral biometric optical tactile sensor for instantaneous decoupling of dynamic touch signals in real time

Decoupling dynamic touch signals in the optical tactile sensors is highly desired for behavioral tactile applications yet challenging because typical optical sensors mostly measure only static normal force and use imprecise multi-image averaging for dynamic force sensing. Here, we report a highly sensitive upconversion nanocrystals-based behavioral biometric optical tactile sensor that instantaneously and quantitatively decomposes dynamic touch signals into individual components of vertical normal and lateral shear force from a single image in real-time. By mimicking the sensory architecture of human skin, the unique luminescence signal obtained is axisymmetric for static normal forces and non-axisymmetric for dynamic shear forces. Our sensor demonstrates high spatio-temporal screening of small objects and recognizes fingerprints for authentication with high spatial-temporal resolution. Using a dynamic force discrimination machine learning framework, we realized a Braille-to-Speech translation system and a next-generation dynamic biometric recognition system for handwriting.

Soft Magnetoelastic Tactile Multi-Sensors with Energy-Absorbing Properties for Self-Powered Human-Machine Interfaces.

Tactile sensors play a key role in human-machine interfaces (HMIs) for augmented and virtual reality, point-of-care devices, and human-robot collaboration, which show the promise of revolutionizing our ways of life. Here, we present a sensor (EMTS) that utilizes the magnetoelastic effect in a soft metamaterial to convert mechanical pressure into electrical signals. With this unique mechanism, the proposed EMTS simultaneously possesses self-powering, waterproof, and compliant features. The soft metamaterial is essentially a porous magnetoelastomer structure designed based on the Fourier series expansion, which allows for programmable mechanical response and sensing performance of the EMTS. Fabricated by simple 3D-printed molds, the EMTS also holds potential for low-cost production. Particularly, the porous magnetoelastomer structure comes with selectable buckling instabilities that can significantly enhance biomechanical-to-electrical energy conversion. Also, with the embedded magnetic microparticles, the energy-absorbing performance of the sensor is greatly improved, which is highly beneficial to HMIs. To pursue practical applications, the EMTSs are further integrated with two systems as control and perception modules. It is demonstrated that the EMTS is able to identify different hand gestures to control a lighting system even in a high-humidity environment. Also, the EMTS stands out for its superior capability of simultaneous impact perception and energy absorption in drop tests. Overall, with its compelling array of features, the presented EMTS gives impetus to multi-sensing technology and practically enables a variety of HMI applications.

Bioinspired adaptable multiplanar mechano-vibrotactile haptic system

Several gaps persist in haptic device development due to the multifaceted nature of the sense of touch. Existing gaps include challenges enhancing touch feedback fidelity, providing diverse haptic sensations, and ensuring wearability for delivering tactile stimuli to the fingertips. Here, we introduce the Bioinspired Adaptable Multiplanar Haptic system, offering mechanotactile/steady and vibrotactile pulse stimuli with adjustable intensity (up to 298.1 mN) and frequencies (up to 130 Hz). This system can deliver simultaneous stimuli across multiple fingertip areas. The paper includes a full characterisation of our system. As the device can play an important role in further understanding human touch, we performed human stimuli sensitivity and differentiation experiments to evaluate the capability of delivering mechano-vibrotactile, variable intensity, simultaneous, multiplanar and operator agnostic stimuli. Our system promises to accelerate the development of touch perception devices, providing painless, operator-independent data crucial for researching and diagnosing touch-related disorders.

Functional Tactile Sensor Based on Arrayed Triboelectric Nanogenerators

AbstractIn the era of Internet of Things (IoT) and Artificial Intelligence (AI), sensors have become an integral part of intelligent systems. Although the traditional sensing technology is very mature in long‐term development, there are remaining defects and limitations that make it difficult to meet the growing demands of current applications, such as high‐sensitivity detection and self‐supplied sensing. As a new type of sensor, array triboelectric nanogenerators (TENG)‐based tactile sensors can respond to wide dynamic range of mechanical stimuli in the surrounding environment and converting them into quantifiable electrical signals, thus realizing real‐time self‐supplied tactile sensing. The array structure allows for fine delineation of the sensing area and improved spatial resolution, resulting in accurate localization and quantification of the detected tactile signals, and have been widely used in wearable devices, smart interaction, medical and health detection, and other fields. In this paper, the latest research progress of functional tactile sensors based on arrayed triboelectric nanogenerators is systematically reviewed from the aspects of working mechanism, material selection, material processing, structural design, functional integration, and application. Finally, the challenges faced by arrayed triboelectric tactile sensors are summarized with a view to providing inspiration and guidance for the future development of tactile sensors.

A Multifunctional Tactile Sensory System for Robotic Intelligent Identification and Manipulation Perception.

Humans recognize and manipulate objects relying on the multidimensional force features captured by the tactile sense of skin during the manipulation. Since the current sensors integrated in robots cannot support the robots to sense the multiple interaction states between manipulator and objects, achieving human-like perception and analytical capabilities remains a major challenge for service robots. Prompted by the tactile perception involved in robots performing complex tasks, a multimodal tactile sensory system is presented to provide in situ simultaneous sensing for robots when approaching, touching, and manipulating objects. The system comprises a capacitive sensor owning the high sensitivity of 1.11E-2pFmm-1, a triboelectricity nanogenerator with the fast response speed of 30ms, and a pressure sensor array capable of 3D force detection. By Combining transfer learning models, which fuses multimodal tactile information to achieve high-precision (up to 95%) recognition of the multi-featured targets such as random hardness and texture information under random sampling conditions, including random grasp force and velocity. This sensory system is expected to enhance the intelligent recognition and behavior-planning capabilities of autonomous robots when performing complex tasks in undefined surrounding environments.