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Artificial Tactile Perception System for Exploring Internal and External Features of Objects via Time-Frequency

Yuanzhi Zhou1, Jingqi Zhang1, Linyi Li1

  • 1Guangdong Provincial Key Laboratory of Nanophotonic Functional Materials and Devices, Guangdong Basic Research Center of Excellence for Structure and Fundamental Interactions of Matter, School of Optoelectronic Science and Engineering, South China Normal University, Guangzhou, 510006, China.

Advanced Science (Weinheim, Baden-Wurttemberg, Germany)
|November 11, 2025
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Summary

This study introduces a flexible piezoelectric tactile sensor with active perception capabilities. The novel device enhances robotic tactile sensing for object recognition and manipulation tasks.

Keywords:
active explorationartificial tactile perception systemobject features cognitiontime‐frequency features

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Area of Science:

  • Robotics
  • Materials Science
  • Sensor Technology

Background:

  • Accurate object recognition and manipulation in robotics require perception of both external and internal features.
  • Current artificial tactile perception systems face challenges in accuracy and efficiency due to reliance on single signal processing paradigms.
  • Active contact can modulate mechanical interactions, enabling targeted perception of specific object properties.

Purpose of the Study:

  • To present a flexible piezoelectric tactile sensing device with active perception capabilities.
  • To demonstrate the device's effectiveness in extracting tactile information for object recognition and manipulation.
  • To advance tactile interaction paradigms in robotics.

Main Methods:

  • Development of a flexible piezoelectric tactile sensing device with active exploration motions (sliding and vibration).
  • Characterization of the device's performance, including force sensitivity (<0.02 N), multi-axis responsiveness, wide frequency response (>2000 Hz), and high spectral resolution (<1 Hz).
  • Integration of the device onto a robotic dexterous hand for task demonstration.

Main Results:

  • The active tactile sensor successfully extracts edge features using time-domain spike characteristics.
  • Internal object contents are inferred via frequency-domain decay trends.
  • The device demonstrated effectiveness in texture recognition, liquid identification, and shows promise for complex interaction tasks.

Conclusions:

  • The developed piezoelectric tactile sensor with active perception enhances robotic tactile sensing capabilities.
  • This technology provides a foundation for more intuitive and adaptable robotic perception in human-centered environments.
  • The study contributes to advancing tactile interaction paradigms in robotics.