A Biomimetic Roll-Type Tactile Sensor Inspired by the Meissner Corpuscle for Enhanced Dynamic Performance

Highly sensitive bioinspired cutaneous receptors are essential for realistic human-robot interaction. This study presents a biomimetic tactile sensor morphologically modeled after the Meissner corpuscle, designed for high dynamic sensitivity achieved using a coiled configuration. Our proposed electrolytic polymerization technique with magnet-responsive hybrid fluid (HF) was employed to fabricate soft, elastic rubber sensors with embedded coiled electrodes. The coiled configuration, optimized by electrolytic polymerization, exhibited high responsiveness to dynamic motions including pressing, pinching, twisting, bending, and shearing. The mechanism of the haptic property was analyzed by electrochemical impedance spectroscopy (EIS), revealing that reactance variations define an equivalent electric circuit (EEC) whose resistance (R_p), capacitance (C_p), and inductance (L_p) change with applied force; these changes correspond to mechanical deformation and the resulting variation in the sensor's built-in voltage. The roll-type Meissner-inspired sensor demonstrated fast-adapting behavior and broadband vibratory sensitivity, indicating its potential for high-performance tactile and auditory sensing. These findings confirm the feasibility of electrolytically polymerized hybrid fluid rubber as a platform for next-generation bioinspired haptic interfaces.