Ren Hao, Yang Liu, Chang Hong-Yuan, Zhang Tieshan, Li Gen, Yang Xiong, Tang Yifeng, Shang Wanfeng, Shen Yajing
The Robot and Automation Center and the Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, China.
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China.
Nat Commun. 2025 Apr 1;16(1):3135. doi: 10.1038/s41467-025-58403-3.
Skin-like planar tactile sensors have achieved adaptive gripping, in-hand manipulation, and human-machine interaction but remain limited in tasks requiring active environmental interaction and robustness against large mechanical perturbations. Inspired by the biological antennas of nocturnal insects, we introduce a biological antenna-like electronic tactile sensor with enhanced mechanical robustness, capable of withstanding 1800% twist, 224% stretch, 360° bending, large compression, and punctures. Through segmented flexibility and partial magnetization, it achieves an impressive 1.76° omnidirectional loading recognition accuracy, outperforming biological antennas by 17 times. Its scalable plug-and-play capability, combined with an tactile perception algorithm, ensures seamless integration across various robots for diverse tasks. We demonstrate the vision-free navigation with 0.2 mm tracking deviation, 97% accuracy in ground texture recognition, and conformal robotic brushing on serpentine surfaces with a force variance of 0.34 N. This research offers valuable insights for active tactile-based environmental perception and interaction, promising advancements in robotics across various fields.
类皮肤平面触觉传感器已实现了自适应抓取、手内操作和人机交互，但在需要主动与环境交互以及抵抗大的机械扰动的任务中仍存在局限性。受夜行昆虫生物天线的启发，我们引入了一种具有增强机械鲁棒性的类生物天线电子触觉传感器，它能够承受1800%的扭转、224%的拉伸、360°弯曲、大的压缩和穿刺。通过分段柔韧性和部分磁化，它实现了令人印象深刻的1.76°全向负载识别精度，比生物天线高出17倍。其可扩展的即插即用能力，结合触觉感知算法，确保了在各种机器人上无缝集成以执行不同任务。我们展示了无视觉导航，跟踪偏差为0.2毫米，地面纹理识别准确率为97%，以及在蛇形表面上进行保形机器人刷涂，力的方差为0.34牛。这项研究为基于主动触觉的环境感知和交互提供了有价值的见解，有望在各个领域的机器人技术中取得进展。
