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Bioinspired Soft Robot with Incorporated Microelectrodes

Bioinspired Soft Robot with Incorporated Microelectrodes

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Bioinspired Adjustable Soft Robotic Gripper with Integrated Liquid Metal-Based Triboelectric Nanogenerator Sensor for

Zhongbao Luo¹, Cheng Wang¹, Weiqi Cheng¹

¹School of Mechanical Engineering, and Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, Southeast University, Nanjing 211189, China.

ACS Applied Materials & Interfaces

|September 22, 2025

Summary

This study introduces an Adjustable and Perceptible Soft Robotic Gripper (APSRG) that mimics eagle claws for versatile object handling. The APSRG integrates a self-powered sensor for enhanced manipulation in robotics.

Keywords:

bionic design liquid metal soft robotics soft sensor triboelectric nanogenerator

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Last Updated: Jan 17, 2026

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Published on: August 2, 2016

Area of Science:

Robotics and Biomimetics
Materials Science and Engineering

Background:

Traditional robotic grippers face limitations in adaptability, versatility, and force control, hindering advanced manipulation.
Eagle claw-skin biocoordination offers inspiration for novel robotic gripper design.

Purpose of the Study:

To develop an Adjustable and Perceptible Soft Robotic Gripper (APSRG) for intelligent object handling.
To integrate a self-powered sensor for enhanced robotic gripper perception and performance.

Main Methods:

Optimized soft actuator design for stable grasping of diverse objects.
Fabrication of a self-powered triboelectric nanogenerator (TENG) sensor using oxidized liquid metal (LM).
Characterization of gripper performance, including grasping stability and sensor response time/durability.

Main Results:

The APSRG successfully grasped 10 objects with varied properties within seconds.
The TENG sensor demonstrated a 60 ms response time and over 3000 cycles of durability.
The integrated system offers cost-effective, reliable sensing and gripping capabilities.

Conclusions:

The APSRG provides a solution to limitations in traditional robotic grippers, offering enhanced adaptability and sensing.
The developed system shows significant potential for applications in autonomous sorting, exploration, and medical assistance.
Biomimetic design combined with advanced sensor technology offers a pathway for next-generation robotic manipulation.