A New Force‐Decoupling Triaxial Tactile Sensor Based on Elastic Microcones for Accurately Grasping Feedback

Abstract

Tactile sensor capable of detecting both normal and tangential forces is essential for the next‐generation robotic electronics. However, designing a reliable triaxial tactile sensor to decouple the normal and tangential forces is still a challenge for current research. Herein, a capacitive triaxial force sensor based on a microcone dielectric layer together with the force decoupling method is proposed. The lateral and vertical displacement of the top electrode relative to the bottom electrodes under the action of external forces can be perfectly detected according to the capacitance variations. The microcone‐structured sensor combined with the new decoupling method leads to a high sensitivity of 3.5 kPa−1 for normal force in a low‐pressure range of 0––50 Pa and 0.134 N−1 for tangential force in 0–0.5 N, and a fast response time of 26 ms. The sensors mounted on the fingers of a robotic arm can provide effective tactile information during the grasping task. Finally, a conceptual 3 × 3 tactile sensor array is fabricated and verified for spatial pressure mapping. This work provides new insight into piezocapacitive tactile sensor design and shows its great potential in robotic applications.

A multimodal magnetoelastic artificial skin for underwater haptic sensing

“…In addition, to achieve human-level dexterity, haptic sensors must decode complex mechanical information including force type, magnitude, and direction, in each taxel, while maintaining a high taxel density. Existing tactile sensors typically use three to four channels to realize force-decoupling capability within a single taxel, which results in a complex structure and requires both intricate front-end and back-end circuits ( 14 ). A haptic sensing system capable of achieving multiplexed tactile modality within a single taxel, while also offering intrinsic waterproofness and a simple configuration, is now unavailable and in high demand for underwater haptic sensing.…”

Design and analysis of parallel six-dimensional force sensor based on near-singular characteristics

“…In robot assembly and manufacturing, the forward force is typically 5-10 times greater than the tangential force, while in aircraft load tests, the lift force is often 10-20 times greater than air resistance [31,32]. Force sensors face challenges in accurately measuring forces in all directions under these conditions, making it crucial to enhance their sensitivity characteristics in specific force directions [33]. However, there have been limited studies on near-singular configuration sensors, lacking a systematic approach to configuration synthesis, mathematical modeling, and performance optimization analysis.…”

A Flexible Dual‐Mode Capacitive Sensor for Highly Sensitive Touchless and Tactile Sensing in Human‐Machine Interactions

“…In the first approach, sensing units with different sensing principles for proximity and tactile sensing functions are integrated into one sensor. Proximity sensing units are usually based on the principles of the magnetic field, [17] electric field, [18] humidity, [19,20] etc., and tactile sensing units are usually based on the principles of piezoresistance, [21] capacitance, [22] triboelectric, [23] etc. Sam et al [24] proposed a multifunctional sensor that stacks sensing units of multiple sensing principles in the vertical direction, enabling proximity, temperature, and tactile sensing.…”