Related Experiment Video
Updated: May 22, 2026
09:41
Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
Published on: April 21, 2023
Fingertip-scale six-axis tactile interface with high-precision force sensing and position localization for dexterous
Yi Song1,2, Junwei Wang1,2, Zongke Li1,2
1College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou, 310023, China.
Microsystems & Nanoengineering
|May 20, 2026
Summary
HexaTouch is a new micro-tactile sensor that accurately detects multidirectional forces and contact locations. This advanced sensor enhances robotic dexterity and human-machine interaction with its high precision and rapid response.
Area of Science:
- Robotics and Micro-systems Engineering
- Materials Science and Engineering
- Machine Learning and Artificial Intelligence
Background:
- Developing tactile sensors for robots is challenging, limiting dexterity and human-machine interaction.
- Existing sensors struggle with simultaneous multidirectional force and precise location detection.
Purpose of the Study:
- To introduce HexaTouch, a fingertip-scale sensor that integrates vision-based deformation encoding with capacitive sensing.
- To achieve simultaneous decoding of six-axis force/torque and 3D contact location.
Main Methods:
- Utilized a bioinspired bilayer elastomer with a graded micropillar array for heterogeneous stiffness.
- Employed a dense capacitive micro-array to capture deformation patterns as high-resolution capacitive images.
- Developed a machine learning framework for decoding capacitive images into force/torque vectors and contact coordinates.
Main Results:
- Achieved force measurement errors under 1.6% and contact localization precision up to 0.1 mm.
- Demonstrated a low inference latency of 1.5 ms, maintaining stability across various environmental conditions.
- Validated through applications in dexterous grasping, precise assembly, and human-machine interaction.
Conclusions:
- HexaTouch offers a robust and adaptable micro-tactile sensing platform.
- Significantly advances capabilities in robotic manipulation and environmental interaction.
- Provides a foundation for next-generation human-robot collaboration.
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