Multimodal Fibrous Static and Dynamic Tactile Sensor

Area of Science:

• Materials Science
• Robotics Engineering
• Sensor Technology

Background:

• Developing advanced tactile sensors is crucial for enhancing robot dexterity and interaction capabilities.
• Existing tactile sensors often face challenges with cost, robustness, and integration.

Purpose of the Study:

• To present a versatile, low-cost, and robust tactile sensor utilizing P(VDF-TrFE) micronanofibers.
• To demonstrate the sensor's capability for acquiring static and dynamic load measurements.
• To explore the potential of this sensor design in multimodal robotic tactile sensing.

Main Methods:

• Fabrication of a multi-layered sensor with a P(VDF-TrFE) core and Ni/Cu conductive fabric electrodes.
• Utilizing an *in situ* electrospinning process to deposit fibers directly onto a poly(dimethylsiloxane) (PDMS) fingertip.
• Testing sensor performance under static and dynamic loading conditions over 30,000 cycles.

Main Results:

• The sensor achieved a total thickness of less than 300 μm.
• The *in situ* electrospinning method ensured excellent surface conformity and adhesion.
• Consistent and reliable measurement performance was observed for both static and dynamic loads.

Conclusions:

• The presented P(VDF-TrFE) micronanofiber tactile sensor is a promising solution for low-cost, high-performance robotic sensing.
• The *in situ* fabrication technique effectively addresses challenges in sensor integration and surface contact.
• The sensor design holds significant potential for advancing multimodal sensing in robotics.