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Updated: Jun 30, 2026

Measurement of Vibration Detection Threshold and Tactile Spatial Acuity in Human Subjects

Measurement of Vibration Detection Threshold and Tactile Spatial Acuity in Human Subjects

Published on: September 1, 2016

PVDF-based flexible piezoelectric tactile sensor for slip estimation using robotic gripper.

Muhammad Hisyam Rosle^1,2, Abdul Rashid Saffiai³, Abdul Nasir⁴

¹Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, Kuala Lumpur, Malaysia.

Frontiers in Robotics and AI

|December 26, 2025

Summary

This study presents a simple, low-cost flexible piezoelectric tactile sensor using polyvinylidene fluoride (PVDF) for robotic grippers. Thinner soft layers enhance sensitivity, enabling effective slip detection in industrial manufacturing.

Keywords:

piezoelectric robotic gripper slip estimation soft sensor tactile sensor

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Area of Science:

Robotics and Materials Science
Sensor Technology
Manufacturing Engineering

Background:

Object slippage in robotic grippers causes damage, delays, and costs in industrial manufacturing.
Early slip detection is vital for efficient robotic assembly operations.
Existing piezoelectric tactile sensors (PVDF) face challenges in simple structure and low fabrication cost.

Purpose of the Study:

To develop a simple-structured, low-cost flexible piezoelectric tactile sensor for robotic grippers.
To investigate the impact of soft body layer thickness on sensor performance for slip estimation.
To enhance robotic gripper functionality through improved slip detection.

Main Methods:

Designed and fabricated a flexible piezoelectric tactile sensor using polyvinylidene fluoride (PVDF).
Integrated the PVDF sensor with a soft body layer made of silicone rubber into a robotic gripper.
Analyzed the effect of varying soft body layer thicknesses on sensor performance and slip detection.

Main Results:

Sensor sensitivity increases as the thickness of the soft body layer decreases.
The sensor's signal amplitude correlates with object load, indicating slip intensity.
Demonstrated a simple and cost-effective design for a flexible piezoelectric tactile sensor.

Conclusions:

The developed PVDF-based tactile sensor effectively detects slip in robotic grippers.
Optimizing soft body layer thickness is crucial for enhancing sensor sensitivity and performance.
This advancement offers a cost-effective solution for improving robotic gripper functionality in industrial settings.