A Bioinspired Multifunctional Adhesive-Tactile E-Skin Enabled for Adaptive Grasping and Slip Detection

Robotic grasping faces a fundamental trade-off between strong adhesion and easy, rapid release, particularly when handling fragile or heavy objects. While thermoresponsive tunable adhesives have been developed to decouple this conflict by enabling tunable adhesion via temperature changes, the lack of real-time tactile feedback limits adaptive control during dynamic manipulation. Inspired by the adhesive-tactile synergy observed in tree frog toe pads, we present a multifunctional electronic skin (e-skin) that integrates a temperature-regulated adhesive layer with a tactile perception layer for closed-loop manipulation. The adhesive layer, made of a PDMA-co-LMA (Poly(N,N-dimethylacrylamide-co-lauryl methacrylate)) copolymer, provides strong adhesion (143.46 kPa at 25 °C) and rapid release (5.41 kPa at 85 °C, a 96.23% reduction). The tactile layer, based on a clay-reinforced PDMA/ILs (ionic liquids) ionogel, exhibits a wide linear range (0-300 kPa, R² = 0.998) and high sensitivity (13.129 kPa^-1). Coupled with a real-time slip detection algorithm, the system achieves over 95% success in preventing slip and object damage. By merging tunable adhesion with tactile perception, this e-skin enables robust, adaptive, and nondestructive grasping in dynamic environments and provides a promising strategy for intelligent robotic grasping.