Synergistic Integration of Artificial Merkel Disc and Meissner Corpuscle via Dermal Papillary Structures for...

Human skin efficiently perceives tactile stimuli through specialized mechanoreceptors strategically arranged around the papillary structure at the epidermis-dermis junction. Here, we demonstrate a cooperative self-powered multimodal tactile sensor that mimics both the spatial organization and mechanical functionality of Merkel discs (SA1) and Meissner corpuscles (RA1) within an artificial papillary architecture. The artificial Meissner sensor generates rapid-adapting responses under slip, while the Merkel sensor produces sustained slow-adapting outputs under static loading. The modulus contrast between a rigid epidermal layer and a soft dermal layer induces localized stress concentration and, importantly, mechanically filters incoming stimuli by selectively amplifying periodic components. This structural filtering enhances targeted stress delivery and signal amplification compared to sensors without papillary structure, resulting in over 1.5-fold improvement in pressure sensitivity for Merkel sensor and more than two orders of magnitude enhancement in amplitude with improved frequency-domain clarity for Meissner sensor. Combined with fingerprint-inspired microstructures and machine learning, the system achieves 97.5% classification accuracy across 12 fabric-shape combinations and enables tactile regeneration of embossed patterns. This bioinspired platform provides a structural strategy for enhancing multimodal tactile perception in electronic skin and robotics.