A Sea Anemone Tentacle-Inspired Capacitive 3D Force Flexible Tactile Sensor for Human-Machine Interaction and...

Sea anemones detect external stimuli through the deformation of their soft tentacles, which exhibit multi-directional force sensitivity. Inspired by this mechanism, we designed a capacitive three-dimensional force flexible tactile sensor composed of a hollow hemisphere and a hollow cylinder. The device was fabricated using 3D printing combined with a Layer-By-Layer assembly process. For normal forces, the sensor achieved sensitivities of approximately 0.66 N^-1 in the 0-1 N range and 0.15 N^-1 in the 2-10 N range. For tangential forces, the four symmetrically distributed electrodes exhibited opposite monotonic capacitance variation trends. The sensor exhibited a force resolution of 0.02 N, a lower detection limit of 0.04 N, a hysteresis error as low as 3.5%, and a response/recovery time of up to 50 ms under a 0-10 N load. Moreover, the device demonstrated good stability under 1000 load-unload cycles and over a temperature range from 20 °C to 100 °C. Its utility was further validated through multi-scenario applications, including game controller manipulation, gripper-based object recognition, Morse code and Huffman coding transmission, as well as multi-joint human motion detection. These results demonstrate that the proposed bioinspired sensor offers a promising solution for flexible force sensing, human-machine interaction, and wearable health monitoring.